2025-04-24 14:06:16 [info] Event logging started at level debug
2025-04-24 14:06:16 [info] Running: Duet 3 Mini5plus Ethernet: 3.6.0-rc.2+4 (2025-04-17 08:23:50)
2025-04-24 14:06:25 [warn] Started printing file 0:/gcodes/NV00044073A.g
2025-04-24 14:06:25 [debug] File 0:/gcodes/NV00044073A.g selected for printing
2025-04-24 14:06:31 [warn] Warning: Driver 50.0 basic tuning succeeded but measured backlash (1.574 step) is high
2025-04-24 14:06:43 [debug] Stopped at height -0.183 mm
2025-04-24 14:06:43 [debug] Diagnostics for board 50:
2025-04-24 14:06:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,119) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,34.8%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,64.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.5%,255), total 100.0%
Owned mutexes:
Last reset 04:08:48 ago, cause: software
2025-04-24 14:06:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:43 [debug] Moves scheduled 25445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=30, max=69, frequency (Hz): min=8928, max=16666
Sync err accum 58, peak jitter -5/5, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4284494727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:06:43 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min 0, mspos 216, reads 17869, writes 49 timeouts 4
2025-04-24 14:06:43 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53355, send timeouts 0, received 31607, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36113/37171
2025-04-24 14:06:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:43 [info] currentZPosition:-0.183
2025-04-24 14:06:44 [debug] Stopped at height -0.186 mm
2025-04-24 14:06:44 [debug] Stopped at height -0.187 mm
2025-04-24 14:06:45 [debug] Stopped at height -0.183 mm
2025-04-24 14:06:45 [debug] Diagnostics for board 50:
2025-04-24 14:06:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:08:50 ago, cause: software
2025-04-24 14:06:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:45 [debug] Moves scheduled 25451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 77, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4283369242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:06:45 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18867, writes 0 timeouts 0
2025-04-24 14:06:45 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 37037/37133
2025-04-24 14:06:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:45 [info] currentZPosition:-0.183
2025-04-24 14:06:45 [debug] Stopped at height -0.185 mm
2025-04-24 14:06:46 [debug] Stopped at height -0.184 mm
2025-04-24 14:06:46 [debug] Diagnostics for board 50:
2025-04-24 14:06:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:08:51 ago, cause: software
2025-04-24 14:06:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:46 [debug] Moves scheduled 25455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4282492564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.4C, max 3
2025-04-24 14:06:46 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 14699, writes 0 timeouts 0
2025-04-24 14:06:46 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 51, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 37063/37110
2025-04-24 14:06:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:46 [info] currentZPosition:-0.184
2025-04-24 14:06:46 [debug] Stopped at height -0.185 mm
2025-04-24 14:06:47 [debug] Stopped at height -0.182 mm
2025-04-24 14:06:47 [debug] Diagnostics for board 50:
2025-04-24 14:06:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:08:52 ago, cause: software
2025-04-24 14:06:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:47 [debug] Moves scheduled 25459, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4281657835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.4C, max 
2025-04-24 14:06:47 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 14004, writes 0 timeouts 0
2025-04-24 14:06:47 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 37081/37146
2025-04-24 14:06:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:47 [info] currentZPosition:-0.182
2025-04-24 14:06:48 [debug] Stopped at height -0.185 mm
2025-04-24 14:06:48 [debug] Diagnostics for board 50:
2025-04-24 14:06:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,73.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:08:53 ago, cause: software
2025-04-24 14:06:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:48 [debug] Moves scheduled 25462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4280952531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.6C, max 
2025-04-24 14:06:48 [debug] Driver 0: pos -3399, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 11822, writes 0 timeouts 0
2025-04-24 14:06:48 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 51, send timeouts 0, received 16, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 37077/37113
2025-04-24 14:06:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 804
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8466, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4594, no error
Lin: Encoder reverse polarity: no, raw count 806
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:49 [debug] Stopped at height -0.000 mm
2025-04-24 14:06:49 [debug] Diagnostics for board 50:
2025-04-24 14:06:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:08:53 ago, cause: software
2025-04-24 14:06:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:49 [debug] Moves scheduled 25464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -3/-3, peak Rx delay 156, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4280514401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:06:49 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 7345, writes 0 timeouts 0
2025-04-24 14:06:49 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 47, send timeouts 0, received 14, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 37125/37149
2025-04-24 14:06:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:49 [info] currentZPosition:-4.970e-4
2025-04-24 14:06:50 [debug] Stopped at height 0.003 mm
2025-04-24 14:06:50 [debug] Diagnostics for board 50:
2025-04-24 14:06:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,101) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:08:55 ago, cause: software
2025-04-24 14:06:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:50 [debug] Moves scheduled 25468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 60, peak jitter -4/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4279550695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:06:50 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16140, writes 0 timeouts 0
2025-04-24 14:06:50 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35643/37117
2025-04-24 14:06:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:50 [info] currentZPosition:0.00348
2025-04-24 14:06:50 [debug] Stopped at height 0.002 mm
2025-04-24 14:06:52 [debug] Stopped at height 0.004 mm
2025-04-24 14:06:52 [debug] Diagnostics for board 50:
2025-04-24 14:06:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:08:56 ago, cause: software
2025-04-24 14:06:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:52 [debug] Moves scheduled 25474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 72, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4278280387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:06:52 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21297, writes 0 timeouts 0
2025-04-24 14:06:52 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 35708/37118
2025-04-24 14:06:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:52 [info] currentZPosition:0.00408
2025-04-24 14:06:53 [debug] Stopped at height 0.004 mm
2025-04-24 14:06:53 [debug] Diagnostics for board 50:
2025-04-24 14:06:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:08:58 ago, cause: software
2025-04-24 14:06:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:53 [debug] Moves scheduled 25478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 65, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4276919715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.6C, max 
2025-04-24 14:06:53 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22822, writes 0 timeouts 0
2025-04-24 14:06:53 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35896/37165
2025-04-24 14:06:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:53 [info] currentZPosition:0.00427
2025-04-24 14:06:55 [debug] Stopped at height 0.003 mm
2025-04-24 14:06:55 [debug] Diagnostics for board 50:
2025-04-24 14:06:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:00 ago, cause: software
2025-04-24 14:06:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:55 [debug] Moves scheduled 25482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4275718632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:06:55 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20135, writes 0 timeouts 0
2025-04-24 14:06:55 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36180/37087
2025-04-24 14:06:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:55 [info] currentZPosition:0.00338
2025-04-24 14:06:56 [debug] Stopped at height 0.004 mm
2025-04-24 14:06:56 [debug] Diagnostics for board 50:
2025-04-24 14:06:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:01 ago, cause: software
2025-04-24 14:06:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:56 [debug] Moves scheduled 25486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4274710832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:06:56 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16878, writes 0 timeouts 0
2025-04-24 14:06:56 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36126/37073
2025-04-24 14:06:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:56 [info] currentZPosition:0.00358
2025-04-24 14:06:58 [debug] Stopped at height 0.004 mm
2025-04-24 14:06:58 [debug] Diagnostics for board 50:
2025-04-24 14:06:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:03 ago, cause: software
2025-04-24 14:06:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:58 [debug] Moves scheduled 25490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=572, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4273535257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:06:58 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19666, writes 11 timeouts 1
2025-04-24 14:06:58 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36209/37087
2025-04-24 14:06:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:58 [info] currentZPosition:0.00378
2025-04-24 14:06:59 [debug] Stopped at height 0.003 mm
2025-04-24 14:06:59 [debug] Diagnostics for board 50:
2025-04-24 14:06:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:06:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:04 ago, cause: software
2025-04-24 14:06:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:06:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:06:59 [debug] Moves scheduled 25494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4272520838 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:06:59 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16999, writes 0 timeouts 0
2025-04-24 14:06:59 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36169/37127
2025-04-24 14:06:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:06:59 [info] currentZPosition:0.00348
2025-04-24 14:07:01 [debug] Stopped at height 0.003 mm
2025-04-24 14:07:01 [debug] Diagnostics for board 50:
2025-04-24 14:07:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:06 ago, cause: software
2025-04-24 14:07:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:01 [debug] Moves scheduled 25498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter 0/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4271337702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:01 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19823, writes 0 timeouts 0
2025-04-24 14:07:01 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36224/37085
2025-04-24 14:07:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:01 [info] currentZPosition:0.00338
2025-04-24 14:07:02 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:02 [debug] Diagnostics for board 50:
2025-04-24 14:07:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:07 ago, cause: software
2025-04-24 14:07:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:02 [debug] Moves scheduled 25502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9868, max=15000
Sync err accum 79, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4270337871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:02 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16754, writes 0 timeouts 0
2025-04-24 14:07:02 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35903/37123
2025-04-24 14:07:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:02 [info] currentZPosition:0.00378
2025-04-24 14:07:04 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:04 [debug] Diagnostics for board 50:
2025-04-24 14:07:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:09 ago, cause: software
2025-04-24 14:07:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:04 [debug] Moves scheduled 25506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4269153754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:04 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19853, writes 0 timeouts 0
2025-04-24 14:07:04 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36247/37152
2025-04-24 14:07:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:04 [info] currentZPosition:0.00388
2025-04-24 14:07:05 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:05 [debug] Diagnostics for board 50:
2025-04-24 14:07:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:10 ago, cause: software
2025-04-24 14:07:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:05 [debug] Moves scheduled 25510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 60, peak jitter -3/-2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4268107313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:07:05 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17532, writes 0 timeouts 0
2025-04-24 14:07:05 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36125/37131
2025-04-24 14:07:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:05 [info] currentZPosition:0.00189
2025-04-24 14:07:06 [debug] Stopped at height 0.001 mm
2025-04-24 14:07:07 [debug] Stopped at height 0.003 mm
2025-04-24 14:07:07 [debug] Diagnostics for board 50:
2025-04-24 14:07:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:12 ago, cause: software
2025-04-24 14:07:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:07 [debug] Moves scheduled 25516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4266856801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:07:07 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21000, writes 0 timeouts 0
2025-04-24 14:07:07 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36211/37118
2025-04-24 14:07:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:07 [info] currentZPosition:0.00258
2025-04-24 14:07:07 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:09 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:09 [debug] Diagnostics for board 50:
2025-04-24 14:07:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:14 ago, cause: software
2025-04-24 14:07:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:09 [debug] Moves scheduled 25522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4265443044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:09 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23692, writes 0 timeouts 0
2025-04-24 14:07:09 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36105/37121
2025-04-24 14:07:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:09 [info] currentZPosition:0.00229
2025-04-24 14:07:10 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:10 [debug] Diagnostics for board 50:
2025-04-24 14:07:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:09:15 ago, cause: software
2025-04-24 14:07:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:10 [debug] Moves scheduled 25526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4264449918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:10 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16646, writes 0 timeouts 0
2025-04-24 14:07:10 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36191/37168
2025-04-24 14:07:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:10 [info] currentZPosition:0.00368
2025-04-24 14:07:10 [debug] Stopped at height 0.003 mm
2025-04-24 14:07:12 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:12 [debug] Diagnostics for board 50:
2025-04-24 14:07:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:09:17 ago, cause: software
2025-04-24 14:07:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:12 [debug] Moves scheduled 25532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 65, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4263051534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:12 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23464, writes 0 timeouts 0
2025-04-24 14:07:12 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36090/37120
2025-04-24 14:07:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:12 [info] currentZPosition:0.00398
2025-04-24 14:07:13 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:13 [debug] Diagnostics for board 50:
2025-04-24 14:07:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:18 ago, cause: software
2025-04-24 14:07:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:13 [debug] Moves scheduled 25536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4262048394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.6C, max 3
2025-04-24 14:07:13 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16808, writes 0 timeouts 0
2025-04-24 14:07:13 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36265/37112
2025-04-24 14:07:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:13 [info] currentZPosition:0.00477
2025-04-24 14:07:15 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:15 [debug] Diagnostics for board 50:
2025-04-24 14:07:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:20 ago, cause: software
2025-04-24 14:07:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:15 [debug] Moves scheduled 25540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 70, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4260869029 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.6C, max 
2025-04-24 14:07:15 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19757, writes 0 timeouts 0
2025-04-24 14:07:15 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36101/37120
2025-04-24 14:07:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:15 [info] currentZPosition:0.00447
2025-04-24 14:07:16 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:16 [debug] Diagnostics for board 50:
2025-04-24 14:07:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:21 ago, cause: software
2025-04-24 14:07:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:16 [debug] Moves scheduled 25544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 58, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4259850690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:16 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17104, writes 0 timeouts 0
2025-04-24 14:07:16 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36210/37121
2025-04-24 14:07:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:16 [info] currentZPosition:0.00427
2025-04-24 14:07:18 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:18 [debug] Diagnostics for board 50:
2025-04-24 14:07:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:23 ago, cause: software
2025-04-24 14:07:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:18 [debug] Moves scheduled 25548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 71, peak jitter 0/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4258643181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:18 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20218, writes 0 timeouts 0
2025-04-24 14:07:18 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36116/37167
2025-04-24 14:07:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:18 [info] currentZPosition:0.00249
2025-04-24 14:07:18 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:19 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:19 [debug] Diagnostics for board 50:
2025-04-24 14:07:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:24 ago, cause: software
2025-04-24 14:07:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:19 [debug] Moves scheduled 25554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4257414628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:19 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20605, writes 0 timeouts 0
2025-04-24 14:07:19 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36232/37146
2025-04-24 14:07:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:19 [info] currentZPosition:0.00417
2025-04-24 14:07:20 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:21 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:21 [debug] Diagnostics for board 50:
2025-04-24 14:07:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:26 ago, cause: software
2025-04-24 14:07:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:21 [debug] Moves scheduled 25560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4256003997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:07:21 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23677, writes 0 timeouts 0
2025-04-24 14:07:21 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36086/37139
2025-04-24 14:07:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:21 [info] currentZPosition:0.00408
2025-04-24 14:07:22 [debug] Stopped at height 0.003 mm
2025-04-24 14:07:23 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:23 [debug] Diagnostics for board 50:
2025-04-24 14:07:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:28 ago, cause: software
2025-04-24 14:07:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:23 [debug] Moves scheduled 25566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 57, peak jitter -4/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4254742907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.6C, max 
2025-04-24 14:07:23 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21116, writes 0 timeouts 0
2025-04-24 14:07:23 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36184/37115
2025-04-24 14:07:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:23 [info] currentZPosition:0.00368
2025-04-24 14:07:24 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:24 [debug] Diagnostics for board 50:
2025-04-24 14:07:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:29 ago, cause: software
2025-04-24 14:07:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:24 [debug] Moves scheduled 25570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 71, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4253583504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:24 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19424, writes 0 timeouts 0
2025-04-24 14:07:24 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36085/37162
2025-04-24 14:07:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:25 [info] currentZPosition:0.00457
2025-04-24 14:07:26 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:26 [debug] Diagnostics for board 50:
2025-04-24 14:07:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:31 ago, cause: software
2025-04-24 14:07:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:26 [debug] Moves scheduled 25574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4252557126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:26 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17271, writes 0 timeouts 0
2025-04-24 14:07:26 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36255/37096
2025-04-24 14:07:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:26 [info] currentZPosition:0.00408
2025-04-24 14:07:27 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:27 [debug] Diagnostics for board 50:
2025-04-24 14:07:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:32 ago, cause: software
2025-04-24 14:07:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:27 [debug] Moves scheduled 25578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 60, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4251384002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:27 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19604, writes 0 timeouts 0
2025-04-24 14:07:27 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36071/37156
2025-04-24 14:07:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:27 [info] currentZPosition:0.00447
2025-04-24 14:07:29 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:29 [debug] Diagnostics for board 50:
2025-04-24 14:07:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:34 ago, cause: software
2025-04-24 14:07:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:29 [debug] Moves scheduled 25582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4250370258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:29 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16998, writes 0 timeouts 0
2025-04-24 14:07:29 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36228/37122
2025-04-24 14:07:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:29 [info] currentZPosition:0.00457
2025-04-24 14:07:30 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:30 [debug] Diagnostics for board 50:
2025-04-24 14:07:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:35 ago, cause: software
2025-04-24 14:07:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:30 [debug] Moves scheduled 25586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4249151532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:30 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20408, writes 0 timeouts 0
2025-04-24 14:07:30 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36076/37108
2025-04-24 14:07:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:30 [info] currentZPosition:0.00219
2025-04-24 14:07:31 [debug] Stopped at height 0.002 mm
2025-04-24 14:07:32 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:32 [debug] Diagnostics for board 50:
2025-04-24 14:07:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:37 ago, cause: software
2025-04-24 14:07:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:32 [debug] Moves scheduled 25592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4247952685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:32 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20109, writes 0 timeouts 0
2025-04-24 14:07:32 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36217/37159
2025-04-24 14:07:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:32 [info] currentZPosition:0.00477
2025-04-24 14:07:32 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:34 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:34 [debug] Diagnostics for board 50:
2025-04-24 14:07:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:39 ago, cause: software
2025-04-24 14:07:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:34 [debug] Moves scheduled 25598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 72, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4246530895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.9C, max 3
2025-04-24 14:07:34 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23835, writes 0 timeouts 0
2025-04-24 14:07:34 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36152/37124
2025-04-24 14:07:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:34 [info] currentZPosition:0.00447
2025-04-24 14:07:35 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:35 [debug] Diagnostics for board 50:
2025-04-24 14:07:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:40 ago, cause: software
2025-04-24 14:07:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:35 [debug] Moves scheduled 25602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4245523706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.9C, max 3
2025-04-24 14:07:35 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16891, writes 0 timeouts 0
2025-04-24 14:07:35 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36222/37145
2025-04-24 14:07:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:35 [info] currentZPosition:0.00487
2025-04-24 14:07:37 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:37 [debug] Diagnostics for board 50:
2025-04-24 14:07:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:42 ago, cause: software
2025-04-24 14:07:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:37 [debug] Moves scheduled 25606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4244343398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:07:37 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19769, writes 0 timeouts 0
2025-04-24 14:07:37 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36118/37109
2025-04-24 14:07:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:37 [info] currentZPosition:0.00457
2025-04-24 14:07:38 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:38 [debug] Diagnostics for board 50:
2025-04-24 14:07:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:43 ago, cause: software
2025-04-24 14:07:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:38 [debug] Moves scheduled 25610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 63, peak jitter -2/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4243320682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.9C, max 
2025-04-24 14:07:38 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17669, writes 0 timeouts 0
2025-04-24 14:07:38 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36205/37158
2025-04-24 14:07:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:38 [info] currentZPosition:0.00467
2025-04-24 14:07:40 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:40 [debug] Diagnostics for board 50:
2025-04-24 14:07:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:45 ago, cause: software
2025-04-24 14:07:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:40 [debug] Moves scheduled 25614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4242109528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.9C, max 3
2025-04-24 14:07:40 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19772, writes 0 timeouts 0
2025-04-24 14:07:40 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36080/37113
2025-04-24 14:07:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:40 [info] currentZPosition:0.00417
2025-04-24 14:07:41 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:41 [debug] Diagnostics for board 50:
2025-04-24 14:07:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:46 ago, cause: software
2025-04-24 14:07:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:41 [debug] Moves scheduled 25618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4241085135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 31.9C, max 3
2025-04-24 14:07:41 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17171, writes 0 timeouts 0
2025-04-24 14:07:41 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36202/37112
2025-04-24 14:07:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:41 [info] currentZPosition:0.00378
2025-04-24 14:07:43 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:43 [debug] Diagnostics for board 50:
2025-04-24 14:07:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:48 ago, cause: software
2025-04-24 14:07:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:43 [debug] Moves scheduled 25622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 75, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4239913481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:43 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19641, writes 0 timeouts 0
2025-04-24 14:07:43 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 322, adv 36152/37135
2025-04-24 14:07:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:43 [info] currentZPosition:0.00398
2025-04-24 14:07:44 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:44 [debug] Diagnostics for board 50:
2025-04-24 14:07:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:49 ago, cause: software
2025-04-24 14:07:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:44 [debug] Moves scheduled 25626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4238916130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:07:44 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16717, writes 0 timeouts 0
2025-04-24 14:07:44 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36257/37101
2025-04-24 14:07:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:44 [info] currentZPosition:0.00497
2025-04-24 14:07:46 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:46 [debug] Diagnostics for board 50:
2025-04-24 14:07:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:09:50 ago, cause: software
2025-04-24 14:07:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:46 [debug] Moves scheduled 25630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4237724013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:46 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19977, writes 0 timeouts 0
2025-04-24 14:07:46 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36103/37103
2025-04-24 14:07:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:46 [info] currentZPosition:0.00388
2025-04-24 14:07:47 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:47 [debug] Diagnostics for board 50:
2025-04-24 14:07:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:52 ago, cause: software
2025-04-24 14:07:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:47 [debug] Moves scheduled 25634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4236714850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:07:47 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16907, writes 0 timeouts 0
2025-04-24 14:07:47 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36213/37121
2025-04-24 14:07:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:47 [info] currentZPosition:0.00437
2025-04-24 14:07:48 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:48 [debug] Diagnostics for board 50:
2025-04-24 14:07:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:53 ago, cause: software
2025-04-24 14:07:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:48 [debug] Moves scheduled 25638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4235547771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:07:48 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19558, writes 0 timeouts 0
2025-04-24 14:07:48 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36123/37166
2025-04-24 14:07:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8695, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:49 [info] currentZPosition:0.00467
2025-04-24 14:07:50 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:50 [debug] Diagnostics for board 50:
2025-04-24 14:07:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:55 ago, cause: software
2025-04-24 14:07:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:50 [debug] Moves scheduled 25642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 62, peak jitter -4/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4234520139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:50 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17227, writes 0 timeouts 0
2025-04-24 14:07:50 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36194/37151
2025-04-24 14:07:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:50 [info] currentZPosition:0.00408
2025-04-24 14:07:51 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:51 [debug] Diagnostics for board 50:
2025-04-24 14:07:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:56 ago, cause: software
2025-04-24 14:07:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:51 [debug] Moves scheduled 25646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4233357183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:51 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19482, writes 0 timeouts 0
2025-04-24 14:07:51 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36090/37104
2025-04-24 14:07:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8701, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:52 [info] currentZPosition:0.00467
2025-04-24 14:07:53 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:53 [debug] Diagnostics for board 50:
2025-04-24 14:07:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:58 ago, cause: software
2025-04-24 14:07:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:53 [debug] Moves scheduled 25650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4232322663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:07:53 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17342, writes 0 timeouts 0
2025-04-24 14:07:53 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36232/37109
2025-04-24 14:07:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:53 [info] currentZPosition:0.00378
2025-04-24 14:07:54 [debug] Stopped at height 0.003 mm
2025-04-24 14:07:54 [debug] Diagnostics for board 50:
2025-04-24 14:07:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:09:59 ago, cause: software
2025-04-24 14:07:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:54 [debug] Moves scheduled 25654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4231134313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:07:54 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19903, writes 0 timeouts 0
2025-04-24 14:07:54 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36113/37141
2025-04-24 14:07:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:54 [info] currentZPosition:0.00308
2025-04-24 14:07:56 [debug] Stopped at height 0.005 mm
2025-04-24 14:07:56 [debug] Diagnostics for board 50:
2025-04-24 14:07:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:01 ago, cause: software
2025-04-24 14:07:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:56 [debug] Moves scheduled 25658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 66, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4230146403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:07:56 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16567, writes 0 timeouts 0
2025-04-24 14:07:56 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36219/37149
2025-04-24 14:07:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:56 [info] currentZPosition:0.00457
2025-04-24 14:07:56 [debug] Stopped at height 0.003 mm
2025-04-24 14:07:58 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:58 [debug] Diagnostics for board 50:
2025-04-24 14:07:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:02 ago, cause: software
2025-04-24 14:07:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:58 [debug] Moves scheduled 25664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4228732750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:07:58 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23690, writes 0 timeouts 0
2025-04-24 14:07:58 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36085/37128
2025-04-24 14:07:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:58 [info] currentZPosition:0.00427
2025-04-24 14:07:58 [debug] Stopped at height 0.003 mm
2025-04-24 14:07:59 [debug] Stopped at height 0.004 mm
2025-04-24 14:07:59 [debug] Diagnostics for board 50:
2025-04-24 14:07:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:07:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:04 ago, cause: software
2025-04-24 14:07:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:07:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:07:59 [debug] Moves scheduled 25670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4227484629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:07:59 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20936, writes 0 timeouts 0
2025-04-24 14:07:59 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36260/37123
2025-04-24 14:07:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:07:59 [info] currentZPosition:0.00427
2025-04-24 14:08:00 [debug] Stopped at height 0.003 mm
2025-04-24 14:08:01 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:01 [debug] Diagnostics for board 50:
2025-04-24 14:08:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:10:06 ago, cause: software
2025-04-24 14:08:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:01 [debug] Moves scheduled 25676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4226096297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:01 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23265, writes 0 timeouts 0
2025-04-24 14:08:01 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36182/37140
2025-04-24 14:08:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:01 [info] currentZPosition:0.00537
2025-04-24 14:08:02 [debug] Stopped at height 0.003 mm
2025-04-24 14:08:03 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:03 [debug] Diagnostics for board 50:
2025-04-24 14:08:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:08 ago, cause: software
2025-04-24 14:08:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:03 [debug] Moves scheduled 25682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4224841599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:03 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21043, writes 0 timeouts 0
2025-04-24 14:08:03 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 410, adv 36266/37127
2025-04-24 14:08:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:03 [info] currentZPosition:0.00497
2025-04-24 14:08:03 [debug] Stopped at height 0.002 mm
2025-04-24 14:08:04 [debug] Stopped at height 0.001 mm
2025-04-24 14:08:05 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:05 [debug] Diagnostics for board 50:
2025-04-24 14:08:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:10 ago, cause: software
2025-04-24 14:08:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:05 [debug] Moves scheduled 25690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4223181138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 3
2025-04-24 14:08:05 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27854, writes 0 timeouts 0
2025-04-24 14:08:05 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36165/37118
2025-04-24 14:08:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:05 [info] currentZPosition:0.00537
2025-04-24 14:08:05 [debug] Stopped at height 0.003 mm
2025-04-24 14:08:06 [debug] Stopped at height 0.003 mm
2025-04-24 14:08:07 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:07 [debug] Diagnostics for board 50:
2025-04-24 14:08:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:12 ago, cause: software
2025-04-24 14:08:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:07 [debug] Moves scheduled 25698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4221691291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:07 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24955, writes 0 timeouts 0
2025-04-24 14:08:07 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36192/37116
2025-04-24 14:08:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:07 [info] currentZPosition:0.00577
2025-04-24 14:08:07 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:09 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:09 [debug] Diagnostics for board 50:
2025-04-24 14:08:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:14 ago, cause: software
2025-04-24 14:08:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:09 [debug] Moves scheduled 25704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4220274316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:08:09 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23736, writes 0 timeouts 0
2025-04-24 14:08:09 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36080/37105
2025-04-24 14:08:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:09 [info] currentZPosition:0.00517
2025-04-24 14:08:10 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:10 [debug] Diagnostics for board 50:
2025-04-24 14:08:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:15 ago, cause: software
2025-04-24 14:08:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:10 [debug] Moves scheduled 25708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4219274026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:10 [debug] Driver 0: pos -3442, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16797, writes 0 timeouts 0
2025-04-24 14:08:10 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36219/37097
2025-04-24 14:08:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:10 [info] currentZPosition:0.00586
2025-04-24 14:08:12 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:12 [debug] Diagnostics for board 50:
2025-04-24 14:08:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:10:17 ago, cause: software
2025-04-24 14:08:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:12 [debug] Moves scheduled 25712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4218079452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:12 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19979, writes 0 timeouts 0
2025-04-24 14:08:12 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36091/37160
2025-04-24 14:08:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:12 [info] currentZPosition:0.00487
2025-04-24 14:08:13 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:13 [debug] Diagnostics for board 50:
2025-04-24 14:08:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:18 ago, cause: software
2025-04-24 14:08:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:13 [debug] Moves scheduled 25716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4217070827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:13 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16905, writes 0 timeouts 0
2025-04-24 14:08:13 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36267/37123
2025-04-24 14:08:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8702, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:13 [info] currentZPosition:0.00527
2025-04-24 14:08:15 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:15 [debug] Diagnostics for board 50:
2025-04-24 14:08:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:20 ago, cause: software
2025-04-24 14:08:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:15 [debug] Moves scheduled 25720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4215906790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:15 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19529, writes 0 timeouts 0
2025-04-24 14:08:15 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36165/37123
2025-04-24 14:08:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:15 [info] currentZPosition:0.00567
2025-04-24 14:08:16 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:16 [debug] Diagnostics for board 50:
2025-04-24 14:08:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:21 ago, cause: software
2025-04-24 14:08:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:16 [debug] Moves scheduled 25724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4214882791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:16 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17146, writes 0 timeouts 0
2025-04-24 14:08:16 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36179/37124
2025-04-24 14:08:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8701, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:16 [info] currentZPosition:0.00537
2025-04-24 14:08:18 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:18 [debug] Diagnostics for board 50:
2025-04-24 14:08:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:10:22 ago, cause: software
2025-04-24 14:08:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:18 [debug] Moves scheduled 25728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4213714823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:08:18 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19572, writes 0 timeouts 0
2025-04-24 14:08:18 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36095/37102
2025-04-24 14:08:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:18 [info] currentZPosition:0.00567
2025-04-24 14:08:19 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:19 [debug] Diagnostics for board 50:
2025-04-24 14:08:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:10:24 ago, cause: software
2025-04-24 14:08:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:19 [debug] Moves scheduled 25732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4212686566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:19 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17269, writes 0 timeouts 0
2025-04-24 14:08:19 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36165/37123
2025-04-24 14:08:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:19 [info] currentZPosition:0.00497
2025-04-24 14:08:21 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:21 [debug] Diagnostics for board 50:
2025-04-24 14:08:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:10:25 ago, cause: software
2025-04-24 14:08:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:21 [debug] Moves scheduled 25736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4211493031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:21 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19969, writes 0 timeouts 0
2025-04-24 14:08:21 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36095/37126
2025-04-24 14:08:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:21 [info] currentZPosition:0.00398
2025-04-24 14:08:22 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:22 [debug] Diagnostics for board 50:
2025-04-24 14:08:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:10:27 ago, cause: software
2025-04-24 14:08:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:22 [debug] Moves scheduled 25740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4210512499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:08:22 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16432, writes 0 timeouts 0
2025-04-24 14:08:22 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36189/37102
2025-04-24 14:08:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:22 [info] currentZPosition:0.00586
2025-04-24 14:08:22 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:24 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:24 [debug] Diagnostics for board 50:
2025-04-24 14:08:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:29 ago, cause: software
2025-04-24 14:08:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:24 [debug] Moves scheduled 25746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4209085218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:24 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23917, writes 0 timeouts 0
2025-04-24 14:08:24 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36075/37094
2025-04-24 14:08:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:24 [info] currentZPosition:0.00497
2025-04-24 14:08:25 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:25 [debug] Diagnostics for board 50:
2025-04-24 14:08:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:30 ago, cause: software
2025-04-24 14:08:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:25 [debug] Moves scheduled 25750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4208087030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:25 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16723, writes 0 timeouts 0
2025-04-24 14:08:25 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36182/37164
2025-04-24 14:08:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8690, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:25 [info] currentZPosition:0.00596
2025-04-24 14:08:27 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:27 [debug] Diagnostics for board 50:
2025-04-24 14:08:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:32 ago, cause: software
2025-04-24 14:08:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:27 [debug] Moves scheduled 25754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4206875003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:27 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20311, writes 0 timeouts 0
2025-04-24 14:08:27 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36081/37155
2025-04-24 14:08:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:27 [info] currentZPosition:0.00398
2025-04-24 14:08:27 [debug] Stopped at height 0.003 mm
2025-04-24 14:08:28 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:28 [debug] Diagnostics for board 50:
2025-04-24 14:08:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:33 ago, cause: software
2025-04-24 14:08:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:28 [debug] Moves scheduled 25760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4205640980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:28 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20710, writes 0 timeouts 0
2025-04-24 14:08:28 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36254/37142
2025-04-24 14:08:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:28 [info] currentZPosition:0.00507
2025-04-24 14:08:29 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:30 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:30 [debug] Diagnostics for board 50:
2025-04-24 14:08:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:35 ago, cause: software
2025-04-24 14:08:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:30 [debug] Moves scheduled 25766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4204247075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:30 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23351, writes 0 timeouts 0
2025-04-24 14:08:30 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36104/37138
2025-04-24 14:08:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:30 [info] currentZPosition:0.00567
2025-04-24 14:08:31 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:32 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:32 [debug] Diagnostics for board 50:
2025-04-24 14:08:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:37 ago, cause: software
2025-04-24 14:08:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:32 [debug] Moves scheduled 25772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4202992844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:32 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21022, writes 0 timeouts 0
2025-04-24 14:08:32 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36196/37120
2025-04-24 14:08:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:32 [info] currentZPosition:0.00537
2025-04-24 14:08:32 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:34 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:34 [debug] Diagnostics for board 50:
2025-04-24 14:08:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:39 ago, cause: software
2025-04-24 14:08:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:34 [debug] Moves scheduled 25778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4201589166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:34 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23521, writes 0 timeouts 0
2025-04-24 14:08:34 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36124/37118
2025-04-24 14:08:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:34 [info] currentZPosition:0.00557
2025-04-24 14:08:35 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:35 [debug] Diagnostics for board 50:
2025-04-24 14:08:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:40 ago, cause: software
2025-04-24 14:08:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:35 [debug] Moves scheduled 25782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4200566585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.1C, max 
2025-04-24 14:08:35 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17150, writes 0 timeouts 0
2025-04-24 14:08:35 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36186/37138
2025-04-24 14:08:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:35 [info] currentZPosition:0.00507
2025-04-24 14:08:37 [debug] Stopped at height 0.003 mm
2025-04-24 14:08:37 [debug] Diagnostics for board 50:
2025-04-24 14:08:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:10:42 ago, cause: software
2025-04-24 14:08:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:37 [debug] Moves scheduled 25786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4199344091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:37 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20466, writes 0 timeouts 0
2025-04-24 14:08:37 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36112/37119
2025-04-24 14:08:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:37 [info] currentZPosition:0.00258
2025-04-24 14:08:37 [debug] Stopped at height 0.001 mm
2025-04-24 14:08:38 [debug] Stopped at height 0.001 mm
2025-04-24 14:08:39 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:39 [debug] Diagnostics for board 50:
2025-04-24 14:08:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:44 ago, cause: software
2025-04-24 14:08:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:39 [debug] Moves scheduled 25794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4197889558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:08:39 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24392, writes 0 timeouts 0
2025-04-24 14:08:39 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36201/37092
2025-04-24 14:08:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:39 [info] currentZPosition:0.00467
2025-04-24 14:08:39 [debug] Stopped at height 0.002 mm
2025-04-24 14:08:40 [debug] Stopped at height 0.002 mm
2025-04-24 14:08:41 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:41 [debug] Diagnostics for board 50:
2025-04-24 14:08:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:46 ago, cause: software
2025-04-24 14:08:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:41 [debug] Moves scheduled 25802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -3/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4196224221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.2C, max 
2025-04-24 14:08:41 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27906, writes 0 timeouts 0
2025-04-24 14:08:41 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36091/37134
2025-04-24 14:08:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:41 [info] currentZPosition:0.00417
2025-04-24 14:08:41 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:43 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:43 [debug] Diagnostics for board 50:
2025-04-24 14:08:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:47 ago, cause: software
2025-04-24 14:08:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:43 [debug] Moves scheduled 25808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4195001018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.2C, max 3
2025-04-24 14:08:43 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20513, writes 0 timeouts 0
2025-04-24 14:08:43 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36262/37117
2025-04-24 14:08:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:43 [info] currentZPosition:0.00586
2025-04-24 14:08:43 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:44 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:44 [debug] Diagnostics for board 50:
2025-04-24 14:08:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:49 ago, cause: software
2025-04-24 14:08:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:44 [debug] Moves scheduled 25814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4193593626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:08:44 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23580, writes 0 timeouts 0
2025-04-24 14:08:44 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 36105/37131
2025-04-24 14:08:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8739, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:45 [info] currentZPosition:0.00606
2025-04-24 14:08:46 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:46 [debug] Diagnostics for board 50:
2025-04-24 14:08:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:51 ago, cause: software
2025-04-24 14:08:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:46 [debug] Moves scheduled 25818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4192573399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:08:46 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17127, writes 0 timeouts 0
2025-04-24 14:08:46 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36190/37109
2025-04-24 14:08:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:46 [info] currentZPosition:0.00596
2025-04-24 14:08:47 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:47 [debug] Diagnostics for board 50:
2025-04-24 14:08:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:52 ago, cause: software
2025-04-24 14:08:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:47 [debug] Moves scheduled 25822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -4/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4191405546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:47 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19539, writes 0 timeouts 0
2025-04-24 14:08:47 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36113/37122
2025-04-24 14:08:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:47 [info] currentZPosition:0.00646
2025-04-24 14:08:49 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:49 [debug] Diagnostics for board 50:
2025-04-24 14:08:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:54 ago, cause: software
2025-04-24 14:08:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:49 [debug] Moves scheduled 25826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4190387257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:08:49 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17058, writes 0 timeouts 0
2025-04-24 14:08:49 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36229/37150
2025-04-24 14:08:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:49 [info] currentZPosition:0.00626
2025-04-24 14:08:50 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:50 [debug] Diagnostics for board 50:
2025-04-24 14:08:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:55 ago, cause: software
2025-04-24 14:08:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:50 [debug] Moves scheduled 25830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4189210487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:08:50 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19733, writes 0 timeouts 0
2025-04-24 14:08:50 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36138/37166
2025-04-24 14:08:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8711, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:50 [info] currentZPosition:0.00606
2025-04-24 14:08:52 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:52 [debug] Diagnostics for board 50:
2025-04-24 14:08:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:57 ago, cause: software
2025-04-24 14:08:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:52 [debug] Moves scheduled 25834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4188194880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:52 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17000, writes 0 timeouts 0
2025-04-24 14:08:52 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36108/37088
2025-04-24 14:08:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:52 [info] currentZPosition:0.00616
2025-04-24 14:08:53 [debug] Stopped at height 0.005 mm
2025-04-24 14:08:53 [debug] Diagnostics for board 50:
2025-04-24 14:08:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:58 ago, cause: software
2025-04-24 14:08:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:53 [debug] Moves scheduled 25838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 59, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4187004482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max
2025-04-24 14:08:53 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19949, writes 0 timeouts 0
2025-04-24 14:08:53 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36117/37145
2025-04-24 14:08:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4592, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:53 [info] currentZPosition:0.00517
2025-04-24 14:08:55 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:55 [debug] Diagnostics for board 50:
2025-04-24 14:08:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:10:59 ago, cause: software
2025-04-24 14:08:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:55 [debug] Moves scheduled 25842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4186012872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:08:55 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16645, writes 0 timeouts 0
2025-04-24 14:08:55 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36227/37121
2025-04-24 14:08:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8701, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:55 [info] currentZPosition:0.00646
2025-04-24 14:08:55 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:56 [debug] Stopped at height 0.006 mm
2025-04-24 14:08:56 [debug] Diagnostics for board 50:
2025-04-24 14:08:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:01 ago, cause: software
2025-04-24 14:08:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:56 [debug] Moves scheduled 25848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4184599090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:08:56 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23652, writes 0 timeouts 0
2025-04-24 14:08:56 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36148/37099
2025-04-24 14:08:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8713, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:57 [info] currentZPosition:0.00596
2025-04-24 14:08:57 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:58 [debug] Stopped at height 0.004 mm
2025-04-24 14:08:58 [debug] Diagnostics for board 50:
2025-04-24 14:08:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:08:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:11:03 ago, cause: software
2025-04-24 14:08:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:08:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:08:58 [debug] Moves scheduled 25854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4183312519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:08:58 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21588, writes 0 timeouts 0
2025-04-24 14:08:58 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36199/37100
2025-04-24 14:08:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:08:58 [info] currentZPosition:0.00398
2025-04-24 14:09:00 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:00 [debug] Diagnostics for board 50:
2025-04-24 14:09:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:11:05 ago, cause: software
2025-04-24 14:09:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:00 [debug] Moves scheduled 25858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4182181524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:00 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18968, writes 0 timeouts 0
2025-04-24 14:09:00 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 344, adv 36141/37128
2025-04-24 14:09:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:00 [info] currentZPosition:0.00626
2025-04-24 14:09:00 [debug] Stopped at height 0.005 mm
2025-04-24 14:09:01 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:01 [debug] Diagnostics for board 50:
2025-04-24 14:09:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:06 ago, cause: software
2025-04-24 14:09:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:01 [debug] Moves scheduled 25864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 60, peak jitter -5/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4180930292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:09:01 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20946, writes 0 timeouts 0
2025-04-24 14:09:01 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36273/37146
2025-04-24 14:09:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:01 [info] currentZPosition:0.00616
2025-04-24 14:09:02 [debug] Stopped at height 0.005 mm
2025-04-24 14:09:03 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:03 [debug] Diagnostics for board 50:
2025-04-24 14:09:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:08 ago, cause: software
2025-04-24 14:09:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:03 [debug] Moves scheduled 25870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15306
Sync err accum 70, peak jitter -2/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4179515824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:03 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23696, writes 0 timeouts 0
2025-04-24 14:09:03 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36103/37132
2025-04-24 14:09:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:03 [info] currentZPosition:0.00557
2025-04-24 14:09:05 [debug] Stopped at height 0.005 mm
2025-04-24 14:09:05 [debug] Diagnostics for board 50:
2025-04-24 14:09:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:09 ago, cause: software
2025-04-24 14:09:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:05 [debug] Moves scheduled 25874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4178501116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:09:05 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17045, writes 0 timeouts 0
2025-04-24 14:09:05 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36208/37152
2025-04-24 14:09:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:05 [info] currentZPosition:0.00537
2025-04-24 14:09:06 [debug] Stopped at height 0.003 mm
2025-04-24 14:09:06 [debug] Diagnostics for board 50:
2025-04-24 14:09:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:11 ago, cause: software
2025-04-24 14:09:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:06 [debug] Moves scheduled 25878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4177290469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:09:06 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20246, writes 0 timeouts 0
2025-04-24 14:09:06 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36084/37091
2025-04-24 14:09:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:06 [info] currentZPosition:0.00338
2025-04-24 14:09:07 [debug] Stopped at height 0.003 mm
2025-04-24 14:09:08 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:08 [debug] Diagnostics for board 50:
2025-04-24 14:09:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:13 ago, cause: software
2025-04-24 14:09:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:08 [debug] Moves scheduled 25884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4176093393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max
2025-04-24 14:09:08 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20079, writes 0 timeouts 0
2025-04-24 14:09:08 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36179/37157
2025-04-24 14:09:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:08 [info] currentZPosition:0.00606
2025-04-24 14:09:08 [debug] Stopped at height 0.005 mm
2025-04-24 14:09:10 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:10 [debug] Diagnostics for board 50:
2025-04-24 14:09:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:15 ago, cause: software
2025-04-24 14:09:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:10 [debug] Moves scheduled 25890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 65, peak jitter -3/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4174667411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:10 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23894, writes 0 timeouts 0
2025-04-24 14:09:10 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36078/37122
2025-04-24 14:09:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:10 [info] currentZPosition:0.00557
2025-04-24 14:09:11 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:11 [debug] Diagnostics for board 50:
2025-04-24 14:09:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:11:16 ago, cause: software
2025-04-24 14:09:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:11 [debug] Moves scheduled 25894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4173656863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:09:11 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16948, writes 0 timeouts 0
2025-04-24 14:09:11 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36223/37093
2025-04-24 14:09:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:11 [info] currentZPosition:0.00577
2025-04-24 14:09:13 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:13 [debug] Diagnostics for board 50:
2025-04-24 14:09:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:17 ago, cause: software
2025-04-24 14:09:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:13 [debug] Moves scheduled 25898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4172484952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:13 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19629, writes 0 timeouts 0
2025-04-24 14:09:13 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36071/37096
2025-04-24 14:09:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:13 [info] currentZPosition:0.00586
2025-04-24 14:09:14 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:14 [debug] Diagnostics for board 50:
2025-04-24 14:09:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:19 ago, cause: software
2025-04-24 14:09:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:14 [debug] Moves scheduled 25902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4171489479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max
2025-04-24 14:09:14 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16690, writes 0 timeouts 0
2025-04-24 14:09:14 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36180/37121
2025-04-24 14:09:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8701, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:14 [info] currentZPosition:0.00696
2025-04-24 14:09:15 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:15 [debug] Diagnostics for board 50:
2025-04-24 14:09:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:20 ago, cause: software
2025-04-24 14:09:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:15 [debug] Moves scheduled 25906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4170304128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:15 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19852, writes 0 timeouts 0
2025-04-24 14:09:15 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36122/37087
2025-04-24 14:09:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:16 [info] currentZPosition:0.00626
2025-04-24 14:09:17 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:17 [debug] Diagnostics for board 50:
2025-04-24 14:09:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:22 ago, cause: software
2025-04-24 14:09:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:17 [debug] Moves scheduled 25910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4169287709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:09:17 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17032, writes 0 timeouts 0
2025-04-24 14:09:17 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36178/37089
2025-04-24 14:09:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8710, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:17 [info] currentZPosition:0.00646
2025-04-24 14:09:18 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:18 [debug] Diagnostics for board 50:
2025-04-24 14:09:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:23 ago, cause: software
2025-04-24 14:09:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:18 [debug] Moves scheduled 25914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4168120206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:18 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19560, writes 0 timeouts 0
2025-04-24 14:09:18 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36068/37134
2025-04-24 14:09:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8694, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:18 [info] currentZPosition:0.00686
2025-04-24 14:09:20 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:20 [debug] Diagnostics for board 50:
2025-04-24 14:09:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:11:25 ago, cause: software
2025-04-24 14:09:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:20 [debug] Moves scheduled 25918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4167098945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:09:20 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17121, writes 0 timeouts 0
2025-04-24 14:09:20 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36178/37094
2025-04-24 14:09:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:20 [info] currentZPosition:0.00646
2025-04-24 14:09:21 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:21 [debug] Diagnostics for board 50:
2025-04-24 14:09:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:11:26 ago, cause: software
2025-04-24 14:09:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:21 [debug] Moves scheduled 25922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4165914909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:09:21 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19831, writes 0 timeouts 0
2025-04-24 14:09:21 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36075/37123
2025-04-24 14:09:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:21 [info] currentZPosition:0.00596
2025-04-24 14:09:23 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:23 [debug] Diagnostics for board 50:
2025-04-24 14:09:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:28 ago, cause: software
2025-04-24 14:09:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:23 [debug] Moves scheduled 25926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 66, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4164894293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:09:23 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17112, writes 0 timeouts 0
2025-04-24 14:09:23 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36194/37138
2025-04-24 14:09:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:23 [info] currentZPosition:0.00567
2025-04-24 14:09:24 [debug] Stopped at height 0.005 mm
2025-04-24 14:09:24 [debug] Diagnostics for board 50:
2025-04-24 14:09:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:11:29 ago, cause: software
2025-04-24 14:09:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:24 [debug] Moves scheduled 25930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4163710584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:09:24 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19837, writes 0 timeouts 0
2025-04-24 14:09:24 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36095/37145
2025-04-24 14:09:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:24 [info] currentZPosition:0.00507
2025-04-24 14:09:26 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:26 [debug] Diagnostics for board 50:
2025-04-24 14:09:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:30 ago, cause: software
2025-04-24 14:09:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:26 [debug] Moves scheduled 25934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4162717939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:09:26 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16641, writes 0 timeouts 0
2025-04-24 14:09:26 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36169/37117
2025-04-24 14:09:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:26 [info] currentZPosition:0.00636
2025-04-24 14:09:26 [debug] Stopped at height 0.005 mm
2025-04-24 14:09:27 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:27 [debug] Diagnostics for board 50:
2025-04-24 14:09:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:11:32 ago, cause: software
2025-04-24 14:09:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:27 [debug] Moves scheduled 25940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4161323023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:27 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23376, writes 0 timeouts 0
2025-04-24 14:09:27 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36069/37110
2025-04-24 14:09:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:28 [info] currentZPosition:0.00696
2025-04-24 14:09:28 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:29 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:29 [debug] Diagnostics for board 50:
2025-04-24 14:09:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:34 ago, cause: software
2025-04-24 14:09:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:29 [debug] Moves scheduled 25946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4160071829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:29 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20960, writes 0 timeouts 0
2025-04-24 14:09:29 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36235/37099
2025-04-24 14:09:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8688, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:29 [info] currentZPosition:0.00686
2025-04-24 14:09:31 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:31 [debug] Diagnostics for board 50:
2025-04-24 14:09:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:11:36 ago, cause: software
2025-04-24 14:09:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:31 [debug] Moves scheduled 25950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4158880349 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:09:31 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19955, writes 0 timeouts 0
2025-04-24 14:09:31 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36116/37141
2025-04-24 14:09:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:31 [info] currentZPosition:0.00586
2025-04-24 14:09:32 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:32 [debug] Diagnostics for board 50:
2025-04-24 14:09:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:37 ago, cause: software
2025-04-24 14:09:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:32 [debug] Moves scheduled 25954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4157878836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:09:32 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16808, writes 0 timeouts 0
2025-04-24 14:09:32 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 36212/37098
2025-04-24 14:09:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:32 [info] currentZPosition:0.00646
2025-04-24 14:09:34 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:34 [debug] Diagnostics for board 50:
2025-04-24 14:09:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:38 ago, cause: software
2025-04-24 14:09:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:34 [debug] Moves scheduled 25958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4156710357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:09:34 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19561, writes 0 timeouts 0
2025-04-24 14:09:34 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36105/37115
2025-04-24 14:09:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:34 [info] currentZPosition:0.00686
2025-04-24 14:09:35 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:35 [debug] Diagnostics for board 50:
2025-04-24 14:09:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:40 ago, cause: software
2025-04-24 14:09:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:35 [debug] Moves scheduled 25962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 4155687330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:09:35 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17142, writes 0 timeouts 0
2025-04-24 14:09:35 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36221/37119
2025-04-24 14:09:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:35 [info] currentZPosition:0.00646
2025-04-24 14:09:37 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:37 [debug] Diagnostics for board 50:
2025-04-24 14:09:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:11:41 ago, cause: software
2025-04-24 14:09:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:37 [debug] Moves scheduled 25966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4154527499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:37 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19439, writes 0 timeouts 0
2025-04-24 14:09:37 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36096/37160
2025-04-24 14:09:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 811
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8685, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:37 [info] currentZPosition:0.00716
2025-04-24 14:09:38 [debug] Stopped at height 0.004 mm
2025-04-24 14:09:38 [debug] Diagnostics for board 50:
2025-04-24 14:09:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:11:43 ago, cause: software
2025-04-24 14:09:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:38 [debug] Moves scheduled 25970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4153462168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:38 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17854, writes 0 timeouts 0
2025-04-24 14:09:38 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36188/37111
2025-04-24 14:09:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:38 [info] currentZPosition:0.00447
2025-04-24 14:09:38 [debug] Stopped at height 0.004 mm
2025-04-24 14:09:40 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:40 [debug] Diagnostics for board 50:
2025-04-24 14:09:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:45 ago, cause: software
2025-04-24 14:09:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:40 [debug] Moves scheduled 25976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4152089542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:40 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23007, writes 0 timeouts 0
2025-04-24 14:09:40 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36123/37123
2025-04-24 14:09:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8710, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:40 [info] currentZPosition:0.00656
2025-04-24 14:09:40 [debug] Stopped at height 0.005 mm
2025-04-24 14:09:41 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:41 [debug] Diagnostics for board 50:
2025-04-24 14:09:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:46 ago, cause: software
2025-04-24 14:09:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:41 [debug] Moves scheduled 25982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4150839602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:41 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20965, writes 0 timeouts 0
2025-04-24 14:09:41 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36194/37142
2025-04-24 14:09:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:42 [info] currentZPosition:0.00666
2025-04-24 14:09:42 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:43 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:43 [debug] Diagnostics for board 50:
2025-04-24 14:09:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:48 ago, cause: software
2025-04-24 14:09:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:43 [debug] Moves scheduled 25988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4149446701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:43 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23330, writes 0 timeouts 0
2025-04-24 14:09:43 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36160/37120
2025-04-24 14:09:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:43 [info] currentZPosition:0.00736
2025-04-24 14:09:44 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:45 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:45 [debug] Diagnostics for board 50:
2025-04-24 14:09:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:50 ago, cause: software
2025-04-24 14:09:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:45 [debug] Moves scheduled 25994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8720, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4148182932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:09:45 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21185, writes 0 timeouts 0
2025-04-24 14:09:45 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36225/37129
2025-04-24 14:09:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:45 [info] currentZPosition:0.00676
2025-04-24 14:09:47 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:47 [debug] Diagnostics for board 50:
2025-04-24 14:09:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:51 ago, cause: software
2025-04-24 14:09:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:47 [debug] Moves scheduled 25998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4146996090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:09:47 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19887, writes 0 timeouts 0
2025-04-24 14:09:47 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36087/37119
2025-04-24 14:09:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:47 [info] currentZPosition:0.00596
2025-04-24 14:09:48 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:48 [debug] Diagnostics for board 50:
2025-04-24 14:09:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:53 ago, cause: software
2025-04-24 14:09:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:48 [debug] Moves scheduled 26002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4145999204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:48 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16736, writes 0 timeouts 0
2025-04-24 14:09:48 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36234/37108
2025-04-24 14:09:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:48 [info] currentZPosition:0.00686
2025-04-24 14:09:49 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:49 [debug] Diagnostics for board 50:
2025-04-24 14:09:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:54 ago, cause: software
2025-04-24 14:09:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:49 [debug] Moves scheduled 26006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4144817925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:09:49 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19756, writes 0 timeouts 0
2025-04-24 14:09:49 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36116/37100
2025-04-24 14:09:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:50 [info] currentZPosition:0.00646
2025-04-24 14:09:51 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:51 [debug] Diagnostics for board 50:
2025-04-24 14:09:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:56 ago, cause: software
2025-04-24 14:09:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:51 [debug] Moves scheduled 26010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 73, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4143818193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:09:51 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16759, writes 0 timeouts 0
2025-04-24 14:09:51 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36202/37132
2025-04-24 14:09:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:51 [info] currentZPosition:0.00726
2025-04-24 14:09:52 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:52 [debug] Diagnostics for board 50:
2025-04-24 14:09:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:57 ago, cause: software
2025-04-24 14:09:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:52 [debug] Moves scheduled 26014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4142641168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max
2025-04-24 14:09:52 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19753, writes 0 timeouts 0
2025-04-24 14:09:52 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36088/37117
2025-04-24 14:09:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8692, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:52 [info] currentZPosition:0.00726
2025-04-24 14:09:54 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:54 [debug] Diagnostics for board 50:
2025-04-24 14:09:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:11:59 ago, cause: software
2025-04-24 14:09:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:54 [debug] Moves scheduled 26018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4141626057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:54 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16989, writes 0 timeouts 0
2025-04-24 14:09:54 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36237/37147
2025-04-24 14:09:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:54 [info] currentZPosition:0.00736
2025-04-24 14:09:55 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:55 [debug] Diagnostics for board 50:
2025-04-24 14:09:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:12:00 ago, cause: software
2025-04-24 14:09:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:55 [debug] Moves scheduled 26022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 3/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4140423600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:09:55 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20151, writes 0 timeouts 0
2025-04-24 14:09:55 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36110/37083
2025-04-24 14:09:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:55 [info] currentZPosition:0.00577
2025-04-24 14:09:56 [debug] Stopped at height 0.004 mm
2025-04-24 14:09:56 [debug] Stopped at height 0.003 mm
2025-04-24 14:09:57 [debug] Stopped at height 0.006 mm
2025-04-24 14:09:57 [debug] Diagnostics for board 50:
2025-04-24 14:09:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:02 ago, cause: software
2025-04-24 14:09:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:57 [debug] Moves scheduled 26030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 99, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4138931480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:09:57 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25034, writes 0 timeouts 0
2025-04-24 14:09:57 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36221/37165
2025-04-24 14:09:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:57 [info] currentZPosition:0.00596
2025-04-24 14:09:58 [debug] Stopped at height 0.004 mm
2025-04-24 14:09:59 [debug] Stopped at height 0.007 mm
2025-04-24 14:09:59 [debug] Diagnostics for board 50:
2025-04-24 14:09:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:09:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:04 ago, cause: software
2025-04-24 14:09:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:09:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:09:59 [debug] Moves scheduled 26036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4137541600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:09:59 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23258, writes 0 timeouts 0
2025-04-24 14:09:59 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36092/37138
2025-04-24 14:09:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:09:59 [info] currentZPosition:0.00696
2025-04-24 14:10:00 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:01 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:01 [debug] Diagnostics for board 50:
2025-04-24 14:10:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:06 ago, cause: software
2025-04-24 14:10:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:01 [debug] Moves scheduled 26042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4136276391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:10:01 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21224, writes 0 timeouts 0
2025-04-24 14:10:01 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36191/37157
2025-04-24 14:10:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:01 [info] currentZPosition:0.00656
2025-04-24 14:10:02 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:02 [debug] Diagnostics for board 50:
2025-04-24 14:10:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:12:07 ago, cause: software
2025-04-24 14:10:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:02 [debug] Moves scheduled 26046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4135102924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:10:02 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19675, writes 0 timeouts 0
2025-04-24 14:10:02 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36084/37146
2025-04-24 14:10:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:03 [info] currentZPosition:0.00646
2025-04-24 14:10:04 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:04 [debug] Diagnostics for board 50:
2025-04-24 14:10:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:09 ago, cause: software
2025-04-24 14:10:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:04 [debug] Moves scheduled 26050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -4/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4134067391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:10:04 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17343, writes 0 timeouts 0
2025-04-24 14:10:04 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36195/37111
2025-04-24 14:10:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:04 [info] currentZPosition:0.00557
2025-04-24 14:10:05 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:05 [debug] Diagnostics for board 50:
2025-04-24 14:10:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:12:10 ago, cause: software
2025-04-24 14:10:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:05 [debug] Moves scheduled 26054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4132924891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:10:05 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19133, writes 0 timeouts 0
2025-04-24 14:10:05 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36107/37118
2025-04-24 14:10:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:05 [info] currentZPosition:0.00726
2025-04-24 14:10:06 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:07 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:07 [debug] Diagnostics for board 50:
2025-04-24 14:10:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:12 ago, cause: software
2025-04-24 14:10:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:07 [debug] Moves scheduled 26060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4131668216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:10:07 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21066, writes 0 timeouts 0
2025-04-24 14:10:07 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36214/37122
2025-04-24 14:10:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8705, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:07 [info] currentZPosition:0.00706
2025-04-24 14:10:07 [debug] Stopped at height 0.005 mm
2025-04-24 14:10:09 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:09 [debug] Diagnostics for board 50:
2025-04-24 14:10:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:14 ago, cause: software
2025-04-24 14:10:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:09 [debug] Moves scheduled 26066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4130267409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:09 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23475, writes 0 timeouts 0
2025-04-24 14:10:09 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36133/37137
2025-04-24 14:10:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:09 [info] currentZPosition:0.00726
2025-04-24 14:10:09 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:11 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:11 [debug] Diagnostics for board 50:
2025-04-24 14:10:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:15 ago, cause: software
2025-04-24 14:10:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:11 [debug] Moves scheduled 26072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4129007758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:11 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21119, writes 0 timeouts 0
2025-04-24 14:10:11 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36201/37164
2025-04-24 14:10:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:11 [info] currentZPosition:0.00676
2025-04-24 14:10:12 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:12 [debug] Diagnostics for board 50:
2025-04-24 14:10:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:12:17 ago, cause: software
2025-04-24 14:10:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:12 [debug] Moves scheduled 26076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 58, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4127843434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max
2025-04-24 14:10:12 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19497, writes 0 timeouts 0
2025-04-24 14:10:12 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36086/37130
2025-04-24 14:10:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:12 [info] currentZPosition:0.00726
2025-04-24 14:10:13 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:13 [debug] Diagnostics for board 50:
2025-04-24 14:10:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:18 ago, cause: software
2025-04-24 14:10:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:13 [debug] Moves scheduled 26080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 69, peak jitter 0/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4126803027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:10:13 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17450, writes 0 timeouts 0
2025-04-24 14:10:13 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36211/37124
2025-04-24 14:10:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:14 [info] currentZPosition:0.00596
2025-04-24 14:10:14 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:15 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:15 [debug] Diagnostics for board 50:
2025-04-24 14:10:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:20 ago, cause: software
2025-04-24 14:10:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:15 [debug] Moves scheduled 26086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4125413780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:10:15 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23273, writes 0 timeouts 0
2025-04-24 14:10:15 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36156/37149
2025-04-24 14:10:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8739, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:15 [info] currentZPosition:0.00686
2025-04-24 14:10:17 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:17 [debug] Diagnostics for board 50:
2025-04-24 14:10:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:22 ago, cause: software
2025-04-24 14:10:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:17 [debug] Moves scheduled 26090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4124409250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:10:17 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16847, writes 0 timeouts 0
2025-04-24 14:10:17 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36190/37092
2025-04-24 14:10:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:17 [info] currentZPosition:0.00736
2025-04-24 14:10:18 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:18 [debug] Diagnostics for board 50:
2025-04-24 14:10:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:23 ago, cause: software
2025-04-24 14:10:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:18 [debug] Moves scheduled 26094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4123221037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:10:18 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19901, writes 0 timeouts 0
2025-04-24 14:10:18 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36125/37143
2025-04-24 14:10:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:18 [info] currentZPosition:0.00666
2025-04-24 14:10:20 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:20 [debug] Diagnostics for board 50:
2025-04-24 14:10:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:24 ago, cause: software
2025-04-24 14:10:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:20 [debug] Moves scheduled 26098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4122208033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:10:20 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16979, writes 0 timeouts 0
2025-04-24 14:10:20 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36230/37117
2025-04-24 14:10:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8750, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:20 [info] currentZPosition:0.00686
2025-04-24 14:10:21 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:21 [debug] Diagnostics for board 50:
2025-04-24 14:10:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:12:26 ago, cause: software
2025-04-24 14:10:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:21 [debug] Moves scheduled 26102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4121041121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:10:21 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19549, writes 0 timeouts 0
2025-04-24 14:10:21 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36094/37142
2025-04-24 14:10:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:21 [info] currentZPosition:0.00716
2025-04-24 14:10:23 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:23 [debug] Diagnostics for board 50:
2025-04-24 14:10:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:27 ago, cause: software
2025-04-24 14:10:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:23 [debug] Moves scheduled 26106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4120032323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:10:23 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16925, writes 0 timeouts 0
2025-04-24 14:10:23 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36225/37124
2025-04-24 14:10:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:23 [info] currentZPosition:0.00746
2025-04-24 14:10:24 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:24 [debug] Diagnostics for board 50:
2025-04-24 14:10:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:29 ago, cause: software
2025-04-24 14:10:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:24 [debug] Moves scheduled 26110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 226, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4118820935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:10:24 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20276, writes 0 timeouts 0
2025-04-24 14:10:24 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36136/37106
2025-04-24 14:10:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:24 [info] currentZPosition:0.00557
2025-04-24 14:10:25 [debug] Stopped at height 0.005 mm
2025-04-24 14:10:26 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:26 [debug] Diagnostics for board 50:
2025-04-24 14:10:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:31 ago, cause: software
2025-04-24 14:10:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:26 [debug] Moves scheduled 26116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4117577685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:26 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20853, writes 0 timeouts 0
2025-04-24 14:10:26 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36218/37162
2025-04-24 14:10:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:26 [info] currentZPosition:0.00596
2025-04-24 14:10:27 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:27 [debug] Diagnostics for board 50:
2025-04-24 14:10:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:12:32 ago, cause: software
2025-04-24 14:10:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:27 [debug] Moves scheduled 26120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4116412330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:10:27 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19516, writes 0 timeouts 0
2025-04-24 14:10:27 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 337, adv 36118/37125
2025-04-24 14:10:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:27 [info] currentZPosition:0.00636
2025-04-24 14:10:29 [debug] Stopped at height 0.008 mm
2025-04-24 14:10:29 [debug] Diagnostics for board 50:
2025-04-24 14:10:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:34 ago, cause: software
2025-04-24 14:10:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:29 [debug] Moves scheduled 26124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4115420097 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:10:29 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16634, writes 0 timeouts 0
2025-04-24 14:10:29 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36231/37117
2025-04-24 14:10:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:29 [info] currentZPosition:0.00755
2025-04-24 14:10:30 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:30 [debug] Diagnostics for board 50:
2025-04-24 14:10:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:35 ago, cause: software
2025-04-24 14:10:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:30 [debug] Moves scheduled 26128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 78, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4114230794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:30 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19928, writes 0 timeouts 0
2025-04-24 14:10:30 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36165/37123
2025-04-24 14:10:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:30 [info] currentZPosition:0.00666
2025-04-24 14:10:32 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:32 [debug] Diagnostics for board 50:
2025-04-24 14:10:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:12:36 ago, cause: software
2025-04-24 14:10:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:32 [debug] Moves scheduled 26132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4113229317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:10:32 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16794, writes 0 timeouts 0
2025-04-24 14:10:32 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36253/37095
2025-04-24 14:10:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:32 [info] currentZPosition:0.00746
2025-04-24 14:10:33 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:33 [debug] Diagnostics for board 50:
2025-04-24 14:10:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:38 ago, cause: software
2025-04-24 14:10:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:33 [debug] Moves scheduled 26136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4112031470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:33 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20063, writes 0 timeouts 0
2025-04-24 14:10:33 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36118/37106
2025-04-24 14:10:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:33 [info] currentZPosition:0.00606
2025-04-24 14:10:34 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:35 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:35 [debug] Diagnostics for board 50:
2025-04-24 14:10:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:40 ago, cause: software
2025-04-24 14:10:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:35 [debug] Moves scheduled 26142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4110806733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:10:35 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20541, writes 0 timeouts 0
2025-04-24 14:10:35 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36230/37124
2025-04-24 14:10:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:35 [info] currentZPosition:0.00736
2025-04-24 14:10:36 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:36 [debug] Diagnostics for board 50:
2025-04-24 14:10:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:41 ago, cause: software
2025-04-24 14:10:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:36 [debug] Moves scheduled 26146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4109634353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:10:36 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19638, writes 0 timeouts 0
2025-04-24 14:10:36 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36144/37146
2025-04-24 14:10:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:36 [info] currentZPosition:0.00746
2025-04-24 14:10:38 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:38 [debug] Diagnostics for board 50:
2025-04-24 14:10:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:12:43 ago, cause: software
2025-04-24 14:10:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:38 [debug] Moves scheduled 26150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4108598349 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:38 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17370, writes 0 timeouts 0
2025-04-24 14:10:38 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36256/37122
2025-04-24 14:10:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:38 [info] currentZPosition:0.00656
2025-04-24 14:10:39 [debug] Stopped at height 0.005 mm
2025-04-24 14:10:39 [debug] Diagnostics for board 50:
2025-04-24 14:10:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:12:44 ago, cause: software
2025-04-24 14:10:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:39 [debug] Moves scheduled 26154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4107390624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:10:39 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20239, writes 0 timeouts 0
2025-04-24 14:10:39 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36129/37161
2025-04-24 14:10:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:39 [info] currentZPosition:0.00477
2025-04-24 14:10:40 [debug] Stopped at height 0.004 mm
2025-04-24 14:10:41 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:41 [debug] Diagnostics for board 50:
2025-04-24 14:10:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:46 ago, cause: software
2025-04-24 14:10:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:41 [debug] Moves scheduled 26160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4106181221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:41 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20274, writes 0 timeouts 0
2025-04-24 14:10:41 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36271/37119
2025-04-24 14:10:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:41 [info] currentZPosition:0.00736
2025-04-24 14:10:41 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:43 [debug] Stopped at height 0.005 mm
2025-04-24 14:10:43 [debug] Diagnostics for board 50:
2025-04-24 14:10:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:48 ago, cause: software
2025-04-24 14:10:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:43 [debug] Moves scheduled 26166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4104731636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:10:43 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24291, writes 0 timeouts 0
2025-04-24 14:10:43 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36171/37161
2025-04-24 14:10:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:43 [info] currentZPosition:0.00547
2025-04-24 14:10:43 [debug] Stopped at height 0.005 mm
2025-04-24 14:10:45 [debug] Stopped at height 0.009 mm
2025-04-24 14:10:45 [debug] Diagnostics for board 50:
2025-04-24 14:10:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:49 ago, cause: software
2025-04-24 14:10:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:45 [debug] Moves scheduled 26172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4103533637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:45 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20090, writes 0 timeouts 0
2025-04-24 14:10:45 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36259/37120
2025-04-24 14:10:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8693, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:45 [info] currentZPosition:0.00855
2025-04-24 14:10:45 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:45 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:47 [debug] Stopped at height 0.008 mm
2025-04-24 14:10:47 [debug] Diagnostics for board 50:
2025-04-24 14:10:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:12:52 ago, cause: software
2025-04-24 14:10:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:47 [debug] Moves scheduled 26180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4101858467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:10:47 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 28096, writes 0 timeouts 0
2025-04-24 14:10:47 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37151
2025-04-24 14:10:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8739, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:47 [info] currentZPosition:0.00755
2025-04-24 14:10:47 [debug] Stopped at height 0.005 mm
2025-04-24 14:10:48 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:48 [debug] Diagnostics for board 50:
2025-04-24 14:10:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:53 ago, cause: software
2025-04-24 14:10:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:48 [debug] Moves scheduled 26186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4100583216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:48 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21366, writes 0 timeouts 0
2025-04-24 14:10:48 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36232/37124
2025-04-24 14:10:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:49 [info] currentZPosition:0.00606
2025-04-24 14:10:50 [debug] Stopped at height 0.008 mm
2025-04-24 14:10:50 [debug] Diagnostics for board 50:
2025-04-24 14:10:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:55 ago, cause: software
2025-04-24 14:10:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:50 [debug] Moves scheduled 26190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4099447082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 3
2025-04-24 14:10:50 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19050, writes 0 timeouts 0
2025-04-24 14:10:50 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36163/37157
2025-04-24 14:10:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:50 [info] currentZPosition:0.00805
2025-04-24 14:10:50 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:52 [debug] Stopped at height 0.008 mm
2025-04-24 14:10:52 [debug] Diagnostics for board 50:
2025-04-24 14:10:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:56 ago, cause: software
2025-04-24 14:10:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:52 [debug] Moves scheduled 26196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9868, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4098203940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:10:52 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20868, writes 0 timeouts 0
2025-04-24 14:10:52 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36228/37140
2025-04-24 14:10:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:52 [info] currentZPosition:0.00825
2025-04-24 14:10:52 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:54 [debug] Stopped at height 0.008 mm
2025-04-24 14:10:54 [debug] Diagnostics for board 50:
2025-04-24 14:10:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:12:58 ago, cause: software
2025-04-24 14:10:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:54 [debug] Moves scheduled 26202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4096787971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:10:54 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23685, writes 0 timeouts 0
2025-04-24 14:10:54 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36124/37139
2025-04-24 14:10:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:54 [info] currentZPosition:0.00775
2025-04-24 14:10:55 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:55 [debug] Diagnostics for board 50:
2025-04-24 14:10:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:00 ago, cause: software
2025-04-24 14:10:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:55 [debug] Moves scheduled 26206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4095754967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:10:55 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17310, writes 0 timeouts 0
2025-04-24 14:10:55 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36180/37156
2025-04-24 14:10:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:55 [info] currentZPosition:0.00676
2025-04-24 14:10:56 [debug] Stopped at height 0.007 mm
2025-04-24 14:10:56 [debug] Diagnostics for board 50:
2025-04-24 14:10:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:13:01 ago, cause: software
2025-04-24 14:10:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:56 [debug] Moves scheduled 26210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 63, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4094595333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:10:56 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19471, writes 0 timeouts 0
2025-04-24 14:10:56 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36082/37155
2025-04-24 14:10:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:57 [info] currentZPosition:0.00726
2025-04-24 14:10:58 [debug] Stopped at height 0.006 mm
2025-04-24 14:10:58 [debug] Diagnostics for board 50:
2025-04-24 14:10:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:03 ago, cause: software
2025-04-24 14:10:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:58 [debug] Moves scheduled 26214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4093558775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:10:58 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17332, writes 0 timeouts 0
2025-04-24 14:10:58 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36253/37117
2025-04-24 14:10:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:58 [info] currentZPosition:0.00616
2025-04-24 14:10:59 [debug] Stopped at height 0.008 mm
2025-04-24 14:10:59 [debug] Diagnostics for board 50:
2025-04-24 14:10:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:10:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:04 ago, cause: software
2025-04-24 14:10:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:10:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:10:59 [debug] Moves scheduled 26218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4092413642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:10:59 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19190, writes 0 timeouts 0
2025-04-24 14:10:59 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36084/37108
2025-04-24 14:10:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:10:59 [info] currentZPosition:0.00765
2025-04-24 14:11:00 [debug] Stopped at height 0.006 mm
2025-04-24 14:11:01 [debug] Stopped at height 0.006 mm
2025-04-24 14:11:01 [debug] Diagnostics for board 50:
2025-04-24 14:11:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:06 ago, cause: software
2025-04-24 14:11:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:01 [debug] Moves scheduled 26224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4091139679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:11:01 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21366, writes 0 timeouts 0
2025-04-24 14:11:01 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36273/37159
2025-04-24 14:11:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:01 [info] currentZPosition:0.00626
2025-04-24 14:11:03 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:03 [debug] Diagnostics for board 50:
2025-04-24 14:11:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:07 ago, cause: software
2025-04-24 14:11:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:03 [debug] Moves scheduled 26228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 65, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4090010712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:03 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18906, writes 0 timeouts 0
2025-04-24 14:11:03 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36077/37155
2025-04-24 14:11:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8709, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:03 [info] currentZPosition:0.00865
2025-04-24 14:11:03 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:04 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:04 [debug] Diagnostics for board 50:
2025-04-24 14:11:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:09 ago, cause: software
2025-04-24 14:11:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:04 [debug] Moves scheduled 26234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 73, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4088749714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:04 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21205, writes 0 timeouts 0
2025-04-24 14:11:04 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36197/37125
2025-04-24 14:11:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:04 [info] currentZPosition:0.00875
2025-04-24 14:11:06 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:06 [debug] Diagnostics for board 50:
2025-04-24 14:11:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:13:11 ago, cause: software
2025-04-24 14:11:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:06 [debug] Moves scheduled 26238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4087557039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:06 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19917, writes 0 timeouts 0
2025-04-24 14:11:06 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36159/37147
2025-04-24 14:11:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:06 [info] currentZPosition:0.00795
2025-04-24 14:11:07 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:07 [debug] Diagnostics for board 50:
2025-04-24 14:11:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:12 ago, cause: software
2025-04-24 14:11:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:07 [debug] Moves scheduled 26242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4086518645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:11:07 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17429, writes 0 timeouts 0
2025-04-24 14:11:07 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36228/37161
2025-04-24 14:11:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:07 [info] currentZPosition:0.00666
2025-04-24 14:11:08 [debug] Stopped at height 0.005 mm
2025-04-24 14:11:08 [debug] Stopped at height 0.004 mm
2025-04-24 14:11:09 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:09 [debug] Diagnostics for board 50:
2025-04-24 14:11:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:14 ago, cause: software
2025-04-24 14:11:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:09 [debug] Moves scheduled 26250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4084848998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:11:09 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27966, writes 0 timeouts 0
2025-04-24 14:11:09 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36075/37134
2025-04-24 14:11:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:10 [info] currentZPosition:0.00666
2025-04-24 14:11:10 [debug] Stopped at height 0.005 mm
2025-04-24 14:11:11 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:11 [debug] Diagnostics for board 50:
2025-04-24 14:11:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:16 ago, cause: software
2025-04-24 14:11:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:11 [debug] Moves scheduled 26256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4083632488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:11 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20401, writes 0 timeouts 0
2025-04-24 14:11:11 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36210/37138
2025-04-24 14:11:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8738, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:11 [info] currentZPosition:0.00845
2025-04-24 14:11:11 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:13 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:13 [debug] Diagnostics for board 50:
2025-04-24 14:11:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:18 ago, cause: software
2025-04-24 14:11:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:13 [debug] Moves scheduled 26262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4082230490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:11:13 [debug] Driver 0: pos -3443, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23494, writes 0 timeouts 0
2025-04-24 14:11:13 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36092/37133
2025-04-24 14:11:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8707, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:13 [info] currentZPosition:0.00914
2025-04-24 14:11:13 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:15 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:15 [debug] Diagnostics for board 50:
2025-04-24 14:11:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:19 ago, cause: software
2025-04-24 14:11:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:15 [debug] Moves scheduled 26268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4080965899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:11:15 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21209, writes 0 timeouts 0
2025-04-24 14:11:15 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36210/37163
2025-04-24 14:11:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:15 [info] currentZPosition:0.00825
2025-04-24 14:11:16 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:16 [debug] Diagnostics for board 50:
2025-04-24 14:11:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:21 ago, cause: software
2025-04-24 14:11:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:16 [debug] Moves scheduled 26272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4079801094 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:16 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19511, writes 0 timeouts 0
2025-04-24 14:11:16 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36142/37155
2025-04-24 14:11:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:16 [info] currentZPosition:0.00875
2025-04-24 14:11:18 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:18 [debug] Diagnostics for board 50:
2025-04-24 14:11:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:22 ago, cause: software
2025-04-24 14:11:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:18 [debug] Moves scheduled 26276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4078782808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:18 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17077, writes 0 timeouts 0
2025-04-24 14:11:18 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36186/37161
2025-04-24 14:11:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:18 [info] currentZPosition:0.00855
2025-04-24 14:11:19 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:19 [debug] Diagnostics for board 50:
2025-04-24 14:11:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:24 ago, cause: software
2025-04-24 14:11:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:19 [debug] Moves scheduled 26280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4077581537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:19 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20121, writes 0 timeouts 0
2025-04-24 14:11:19 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36125/37091
2025-04-24 14:11:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:19 [info] currentZPosition:0.00706
2025-04-24 14:11:20 [debug] Stopped at height 0.005 mm
2025-04-24 14:11:21 [debug] Stopped at height 0.006 mm
2025-04-24 14:11:21 [debug] Diagnostics for board 50:
2025-04-24 14:11:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:26 ago, cause: software
2025-04-24 14:11:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:21 [debug] Moves scheduled 26286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4076306903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:21 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21364, writes 0 timeouts 0
2025-04-24 14:11:21 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36185/37117
2025-04-24 14:11:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:21 [info] currentZPosition:0.00646
2025-04-24 14:11:22 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:22 [debug] Diagnostics for board 50:
2025-04-24 14:11:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:27 ago, cause: software
2025-04-24 14:11:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:22 [debug] Moves scheduled 26290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4075179748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.5C, max 
2025-04-24 14:11:22 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18890, writes 0 timeouts 0
2025-04-24 14:11:22 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36128/37171
2025-04-24 14:11:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:22 [info] currentZPosition:0.00885
2025-04-24 14:11:23 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:24 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:24 [debug] Diagnostics for board 50:
2025-04-24 14:11:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:13:29 ago, cause: software
2025-04-24 14:11:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:24 [debug] Moves scheduled 26296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4073933544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:24 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20890, writes 0 timeouts 0
2025-04-24 14:11:24 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36201/37136
2025-04-24 14:11:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:24 [info] currentZPosition:0.00895
2025-04-24 14:11:24 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:26 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:26 [debug] Diagnostics for board 50:
2025-04-24 14:11:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:31 ago, cause: software
2025-04-24 14:11:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:26 [debug] Moves scheduled 26302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4072529828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 3
2025-04-24 14:11:26 [debug] Driver 0: pos -3444, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23546, writes 0 timeouts 0
2025-04-24 14:11:26 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36117/37118
2025-04-24 14:11:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8673, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:26 [info] currentZPosition:0.00905
2025-04-24 14:11:26 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:28 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:28 [debug] Diagnostics for board 50:
2025-04-24 14:11:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:32 ago, cause: software
2025-04-24 14:11:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:28 [debug] Moves scheduled 26308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 89, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4071269369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:11:28 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21137, writes 0 timeouts 0
2025-04-24 14:11:28 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36179/37088
2025-04-24 14:11:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8714, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:28 [info] currentZPosition:0.00855
2025-04-24 14:11:29 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:29 [debug] Diagnostics for board 50:
2025-04-24 14:11:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:34 ago, cause: software
2025-04-24 14:11:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:29 [debug] Moves scheduled 26312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 85, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4070103326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:29 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19503, writes 0 timeouts 0
2025-04-24 14:11:29 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36103/37123
2025-04-24 14:11:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8719, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4593, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:29 [info] currentZPosition:0.00905
2025-04-24 14:11:30 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:30 [debug] Diagnostics for board 50:
2025-04-24 14:11:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:35 ago, cause: software
2025-04-24 14:11:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:30 [debug] Moves scheduled 26316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 76, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4069052641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max
2025-04-24 14:11:30 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17627, writes 0 timeouts 0
2025-04-24 14:11:30 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36209/37125
2025-04-24 14:11:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:31 [info] currentZPosition:0.00716
2025-04-24 14:11:31 [debug] Stopped at height 0.006 mm
2025-04-24 14:11:32 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:32 [debug] Diagnostics for board 50:
2025-04-24 14:11:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:13:37 ago, cause: software
2025-04-24 14:11:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:32 [debug] Moves scheduled 26322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 59, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4067654456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:32 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23445, writes 0 timeouts 0
2025-04-24 14:11:32 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36104/37097
2025-04-24 14:11:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:32 [info] currentZPosition:0.00795
2025-04-24 14:11:34 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:34 [debug] Diagnostics for board 50:
2025-04-24 14:11:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:39 ago, cause: software
2025-04-24 14:11:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:34 [debug] Moves scheduled 26326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 72, peak jitter 0/4, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4066615181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:11:34 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17397, writes 0 timeouts 0
2025-04-24 14:11:34 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36248/37096
2025-04-24 14:11:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:34 [info] currentZPosition:0.00686
2025-04-24 14:11:35 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:35 [debug] Diagnostics for board 50:
2025-04-24 14:11:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:40 ago, cause: software
2025-04-24 14:11:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:35 [debug] Moves scheduled 26330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4065462338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 3
2025-04-24 14:11:35 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19323, writes 0 timeouts 0
2025-04-24 14:11:35 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36128/37130
2025-04-24 14:11:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:35 [info] currentZPosition:0.00795
2025-04-24 14:11:37 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:37 [debug] Diagnostics for board 50:
2025-04-24 14:11:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:41 ago, cause: software
2025-04-24 14:11:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:37 [debug] Moves scheduled 26334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4064460463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:37 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16822, writes 0 timeouts 0
2025-04-24 14:11:37 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36215/37107
2025-04-24 14:11:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:37 [info] currentZPosition:0.00875
2025-04-24 14:11:38 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:38 [debug] Diagnostics for board 50:
2025-04-24 14:11:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:43 ago, cause: software
2025-04-24 14:11:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:38 [debug] Moves scheduled 26338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4063297312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:38 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19447, writes 0 timeouts 0
2025-04-24 14:11:38 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36105/37168
2025-04-24 14:11:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8683, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:38 [info] currentZPosition:0.00924
2025-04-24 14:11:40 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:40 [debug] Diagnostics for board 50:
2025-04-24 14:11:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:44 ago, cause: software
2025-04-24 14:11:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:40 [debug] Moves scheduled 26342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4062270600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max
2025-04-24 14:11:40 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17219, writes 0 timeouts 0
2025-04-24 14:11:40 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36206/37124
2025-04-24 14:11:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:40 [info] currentZPosition:0.00865
2025-04-24 14:11:41 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:41 [debug] Diagnostics for board 50:
2025-04-24 14:11:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:13:46 ago, cause: software
2025-04-24 14:11:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:41 [debug] Moves scheduled 26346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4061102830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:11:41 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19581, writes 0 timeouts 0
2025-04-24 14:11:41 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36112/37145
2025-04-24 14:11:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:41 [info] currentZPosition:0.00895
2025-04-24 14:11:42 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:42 [debug] Diagnostics for board 50:
2025-04-24 14:11:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:47 ago, cause: software
2025-04-24 14:11:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:42 [debug] Moves scheduled 26350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4060085551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:42 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17027, writes 0 timeouts 0
2025-04-24 14:11:42 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36243/37105
2025-04-24 14:11:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:43 [info] currentZPosition:0.00875
2025-04-24 14:11:44 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:44 [debug] Diagnostics for board 50:
2025-04-24 14:11:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:49 ago, cause: software
2025-04-24 14:11:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:44 [debug] Moves scheduled 26354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4058888942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:44 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20052, writes 0 timeouts 0
2025-04-24 14:11:44 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36125/37112
2025-04-24 14:11:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:44 [info] currentZPosition:0.00775
2025-04-24 14:11:45 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:45 [debug] Diagnostics for board 50:
2025-04-24 14:11:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:50 ago, cause: software
2025-04-24 14:11:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:45 [debug] Moves scheduled 26358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4057901175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:45 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16583, writes 0 timeouts 0
2025-04-24 14:11:45 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36269/37160
2025-04-24 14:11:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:45 [info] currentZPosition:0.00905
2025-04-24 14:11:46 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:47 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:47 [debug] Diagnostics for board 50:
2025-04-24 14:11:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:52 ago, cause: software
2025-04-24 14:11:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:47 [debug] Moves scheduled 26364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 78, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4056475326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:11:47 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23868, writes 0 timeouts 0
2025-04-24 14:11:47 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36108/37145
2025-04-24 14:11:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:47 [info] currentZPosition:0.00795
2025-04-24 14:11:49 [debug] Stopped at height 0.007 mm
2025-04-24 14:11:49 [debug] Diagnostics for board 50:
2025-04-24 14:11:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:54 ago, cause: software
2025-04-24 14:11:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:49 [debug] Moves scheduled 26368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4055445937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:11:49 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17264, writes 0 timeouts 0
2025-04-24 14:11:49 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36188/37117
2025-04-24 14:11:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:49 [info] currentZPosition:0.00716
2025-04-24 14:11:50 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:50 [debug] Diagnostics for board 50:
2025-04-24 14:11:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:13:55 ago, cause: software
2025-04-24 14:11:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:50 [debug] Moves scheduled 26372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4054307629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:50 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19089, writes 0 timeouts 0
2025-04-24 14:11:50 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 334, adv 36159/37142
2025-04-24 14:11:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:50 [info] currentZPosition:0.00895
2025-04-24 14:11:51 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:52 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:52 [debug] Diagnostics for board 50:
2025-04-24 14:11:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:13:57 ago, cause: software
2025-04-24 14:11:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:52 [debug] Moves scheduled 26378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4053049473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:52 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21065, writes 0 timeouts 0
2025-04-24 14:11:52 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36219/37167
2025-04-24 14:11:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:52 [info] currentZPosition:0.00845
2025-04-24 14:11:53 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:53 [debug] Diagnostics for board 50:
2025-04-24 14:11:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:13:58 ago, cause: software
2025-04-24 14:11:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:53 [debug] Moves scheduled 26382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 68, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4051869347 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:11:53 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19763, writes 0 timeouts 0
2025-04-24 14:11:53 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36137/37123
2025-04-24 14:11:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:53 [info] currentZPosition:0.00805
2025-04-24 14:11:55 [debug] Stopped at height 0.009 mm
2025-04-24 14:11:55 [debug] Diagnostics for board 50:
2025-04-24 14:11:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:00 ago, cause: software
2025-04-24 14:11:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:55 [debug] Moves scheduled 26386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 63, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4050868836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:11:55 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16774, writes 0 timeouts 0
2025-04-24 14:11:55 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36254/37136
2025-04-24 14:11:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:55 [info] currentZPosition:0.00885
2025-04-24 14:11:56 [debug] Stopped at height 0.008 mm
2025-04-24 14:11:56 [debug] Diagnostics for board 50:
2025-04-24 14:11:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:01 ago, cause: software
2025-04-24 14:11:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:56 [debug] Moves scheduled 26390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4049676147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:11:56 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19984, writes 0 timeouts 0
2025-04-24 14:11:56 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36103/37112
2025-04-24 14:11:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:56 [info] currentZPosition:0.00775
2025-04-24 14:11:58 [debug] Stopped at height 0.010 mm
2025-04-24 14:11:58 [debug] Diagnostics for board 50:
2025-04-24 14:11:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:11:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:03 ago, cause: software
2025-04-24 14:11:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:11:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:11:58 [debug] Moves scheduled 26394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4048696733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:11:58 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16423, writes 0 timeouts 0
2025-04-24 14:11:58 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36262/37142
2025-04-24 14:11:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:11:58 [info] currentZPosition:0.00974
2025-04-24 14:11:58 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:00 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:00 [debug] Diagnostics for board 50:
2025-04-24 14:12:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:14:04 ago, cause: software
2025-04-24 14:12:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:00 [debug] Moves scheduled 26400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4047277411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:00 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23785, writes 0 timeouts 0
2025-04-24 14:12:00 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36084/37149
2025-04-24 14:12:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:00 [info] currentZPosition:0.00914
2025-04-24 14:12:01 [debug] Stopped at height 0.005 mm
2025-04-24 14:12:01 [debug] Diagnostics for board 50:
2025-04-24 14:12:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:06 ago, cause: software
2025-04-24 14:12:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:01 [debug] Moves scheduled 26404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, next step interrupt due in 4046185491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 14:12:01 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18315, writes 0 timeouts 0
2025-04-24 14:12:01 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36232/37125
2025-04-24 14:12:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:01 [info] currentZPosition:0.00497
2025-04-24 14:12:01 [debug] Stopped at height 0.004 mm
2025-04-24 14:12:03 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:03 [debug] Diagnostics for board 50:
2025-04-24 14:12:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:08 ago, cause: software
2025-04-24 14:12:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:03 [debug] Moves scheduled 26410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4044860236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:03 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22196, writes 0 timeouts 0
2025-04-24 14:12:03 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36126/37161
2025-04-24 14:12:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:03 [info] currentZPosition:0.00994
2025-04-24 14:12:03 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:04 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:04 [debug] Diagnostics for board 50:
2025-04-24 14:12:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:14:09 ago, cause: software
2025-04-24 14:12:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:04 [debug] Moves scheduled 26416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10273, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4043592688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:04 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21240, writes 0 timeouts 0
2025-04-24 14:12:04 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36248/37133
2025-04-24 14:12:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:05 [info] currentZPosition:0.00964
2025-04-24 14:12:06 [debug] Stopped at height 0.007 mm
2025-04-24 14:12:06 [debug] Diagnostics for board 50:
2025-04-24 14:12:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:11 ago, cause: software
2025-04-24 14:12:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:06 [debug] Moves scheduled 26420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 98, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4042373669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:12:06 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20423, writes 0 timeouts 0
2025-04-24 14:12:06 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36114/37129
2025-04-24 14:12:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:06 [info] currentZPosition:0.00716
2025-04-24 14:12:07 [debug] Stopped at height 0.006 mm
2025-04-24 14:12:08 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:08 [debug] Diagnostics for board 50:
2025-04-24 14:12:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:13 ago, cause: software
2025-04-24 14:12:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:08 [debug] Moves scheduled 26426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 111, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4041149449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:08 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20530, writes 0 timeouts 0
2025-04-24 14:12:08 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36258/37108
2025-04-24 14:12:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:08 [info] currentZPosition:0.00914
2025-04-24 14:12:08 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:10 [debug] Stopped at height 0.007 mm
2025-04-24 14:12:10 [debug] Diagnostics for board 50:
2025-04-24 14:12:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:14 ago, cause: software
2025-04-24 14:12:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:10 [debug] Moves scheduled 26432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4039702222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:12:10 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24231, writes 0 timeouts 0
2025-04-24 14:12:10 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36116/37160
2025-04-24 14:12:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:10 [info] currentZPosition:0.00746
2025-04-24 14:12:10 [debug] Stopped at height 0.005 mm
2025-04-24 14:12:10 [debug] Stopped at height 0.004 mm
2025-04-24 14:12:12 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:12 [debug] Diagnostics for board 50:
2025-04-24 14:12:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:16 ago, cause: software
2025-04-24 14:12:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:12 [debug] Moves scheduled 26440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4038238768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:12:12 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24551, writes 0 timeouts 0
2025-04-24 14:12:12 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36177/37099
2025-04-24 14:12:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:12 [info] currentZPosition:0.00964
2025-04-24 14:12:12 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:13 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:13 [debug] Diagnostics for board 50:
2025-04-24 14:12:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:18 ago, cause: software
2025-04-24 14:12:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:13 [debug] Moves scheduled 26446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4036814548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max
2025-04-24 14:12:13 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23862, writes 0 timeouts 0
2025-04-24 14:12:13 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36095/37159
2025-04-24 14:12:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:14 [info] currentZPosition:0.00914
2025-04-24 14:12:15 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:15 [debug] Diagnostics for board 50:
2025-04-24 14:12:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:20 ago, cause: software
2025-04-24 14:12:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:15 [debug] Moves scheduled 26450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 78, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4035812986 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:12:15 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16794, writes 0 timeouts 0
2025-04-24 14:12:15 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36185/37120
2025-04-24 14:12:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:15 [info] currentZPosition:0.00984
2025-04-24 14:12:16 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:16 [debug] Diagnostics for board 50:
2025-04-24 14:12:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:21 ago, cause: software
2025-04-24 14:12:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:16 [debug] Moves scheduled 26454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 57, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4034636427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:12:16 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19706, writes 0 timeouts 0
2025-04-24 14:12:16 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36106/37105
2025-04-24 14:12:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8722, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:16 [info] currentZPosition:0.00954
2025-04-24 14:12:18 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:18 [debug] Diagnostics for board 50:
2025-04-24 14:12:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:23 ago, cause: software
2025-04-24 14:12:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:18 [debug] Moves scheduled 26458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4033594569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:12:18 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17454, writes 0 timeouts 0
2025-04-24 14:12:18 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36220/37097
2025-04-24 14:12:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:18 [info] currentZPosition:0.00835
2025-04-24 14:12:19 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:19 [debug] Diagnostics for board 50:
2025-04-24 14:12:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:24 ago, cause: software
2025-04-24 14:12:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:19 [debug] Moves scheduled 26462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4032440689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 3
2025-04-24 14:12:19 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19331, writes 0 timeouts 0
2025-04-24 14:12:19 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36120/37116
2025-04-24 14:12:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:19 [info] currentZPosition:0.00934
2025-04-24 14:12:21 [debug] Stopped at height 0.007 mm
2025-04-24 14:12:21 [debug] Diagnostics for board 50:
2025-04-24 14:12:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:14:26 ago, cause: software
2025-04-24 14:12:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:21 [debug] Moves scheduled 26466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4031375607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:12:21 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17890, writes 0 timeouts 0
2025-04-24 14:12:21 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36177/37145
2025-04-24 14:12:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:21 [info] currentZPosition:0.00656
2025-04-24 14:12:21 [debug] Stopped at height 0.006 mm
2025-04-24 14:12:23 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:23 [debug] Diagnostics for board 50:
2025-04-24 14:12:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:27 ago, cause: software
2025-04-24 14:12:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:23 [debug] Moves scheduled 26472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4030009516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:12:23 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22857, writes 0 timeouts 0
2025-04-24 14:12:23 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36084/37122
2025-04-24 14:12:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:23 [info] currentZPosition:0.00924
2025-04-24 14:12:23 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:24 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:24 [debug] Diagnostics for board 50:
2025-04-24 14:12:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:29 ago, cause: software
2025-04-24 14:12:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:24 [debug] Moves scheduled 26478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4028771717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:24 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20772, writes 0 timeouts 0
2025-04-24 14:12:24 [debug] Last sensors broadcast 0x00000000 found 0 250 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36180/37132
2025-04-24 14:12:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:24 [info] currentZPosition:0.0103
2025-04-24 14:12:25 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:26 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:26 [debug] Diagnostics for board 50:
2025-04-24 14:12:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:31 ago, cause: software
2025-04-24 14:12:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:26 [debug] Moves scheduled 26484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4027340534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:12:26 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23997, writes 0 timeouts 0
2025-04-24 14:12:26 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36059/37088
2025-04-24 14:12:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:26 [info] currentZPosition:0.00914
2025-04-24 14:12:27 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:27 [debug] Diagnostics for board 50:
2025-04-24 14:12:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:32 ago, cause: software
2025-04-24 14:12:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:27 [debug] Moves scheduled 26488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 59, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4026329208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max
2025-04-24 14:12:27 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16922, writes 0 timeouts 0
2025-04-24 14:12:27 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36180/37137
2025-04-24 14:12:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:28 [info] currentZPosition:0.00944
2025-04-24 14:12:29 [debug] Stopped at height 0.011 mm
2025-04-24 14:12:29 [debug] Diagnostics for board 50:
2025-04-24 14:12:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:34 ago, cause: software
2025-04-24 14:12:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:29 [debug] Moves scheduled 26492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4025175752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:12:29 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19322, writes 0 timeouts 0
2025-04-24 14:12:29 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36094/37112
2025-04-24 14:12:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8692, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:29 [info] currentZPosition:0.0105
2025-04-24 14:12:30 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:30 [debug] Diagnostics for board 50:
2025-04-24 14:12:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:35 ago, cause: software
2025-04-24 14:12:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:30 [debug] Moves scheduled 26496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4024129980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 3
2025-04-24 14:12:30 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17564, writes 0 timeouts 0
2025-04-24 14:12:30 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36202/37131
2025-04-24 14:12:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:30 [info] currentZPosition:0.00885
2025-04-24 14:12:31 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:32 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:32 [debug] Diagnostics for board 50:
2025-04-24 14:12:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:37 ago, cause: software
2025-04-24 14:12:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:32 [debug] Moves scheduled 26502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 81, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4022703591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:12:32 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23882, writes 0 timeouts 0
2025-04-24 14:12:32 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 36145/37113
2025-04-24 14:12:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:32 [info] currentZPosition:0.00845
2025-04-24 14:12:34 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:34 [debug] Diagnostics for board 50:
2025-04-24 14:12:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:14:38 ago, cause: software
2025-04-24 14:12:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:34 [debug] Moves scheduled 26506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4021725192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:34 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16398, writes 0 timeouts 0
2025-04-24 14:12:34 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36224/37113
2025-04-24 14:12:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:34 [info] currentZPosition:0.0104
2025-04-24 14:12:34 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:35 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:35 [debug] Diagnostics for board 50:
2025-04-24 14:12:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:14:40 ago, cause: software
2025-04-24 14:12:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:35 [debug] Moves scheduled 26512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4020312164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:12:35 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23700, writes 0 timeouts 0
2025-04-24 14:12:35 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36066/37142
2025-04-24 14:12:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:36 [info] currentZPosition:0.0100
2025-04-24 14:12:37 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:37 [debug] Diagnostics for board 50:
2025-04-24 14:12:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:42 ago, cause: software
2025-04-24 14:12:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:37 [debug] Moves scheduled 26516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4019293271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:12:37 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17043, writes 0 timeouts 0
2025-04-24 14:12:37 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36233/37097
2025-04-24 14:12:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:37 [info] currentZPosition:0.0100
2025-04-24 14:12:38 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:38 [debug] Diagnostics for board 50:
2025-04-24 14:12:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:14:43 ago, cause: software
2025-04-24 14:12:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:38 [debug] Moves scheduled 26520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4018073484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:12:38 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20454, writes 0 timeouts 0
2025-04-24 14:12:38 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 343, adv 36126/37153
2025-04-24 14:12:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:39 [info] currentZPosition:0.00755
2025-04-24 14:12:39 [debug] Stopped at height 0.005 mm
2025-04-24 14:12:39 [debug] Stopped at height 0.005 mm
2025-04-24 14:12:40 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:40 [debug] Diagnostics for board 50:
2025-04-24 14:12:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:45 ago, cause: software
2025-04-24 14:12:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:40 [debug] Moves scheduled 26528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4016596314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:40 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24761, writes 0 timeouts 0
2025-04-24 14:12:40 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36209/37137
2025-04-24 14:12:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:41 [info] currentZPosition:0.00914
2025-04-24 14:12:41 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:42 [debug] Stopped at height 0.011 mm
2025-04-24 14:12:42 [debug] Diagnostics for board 50:
2025-04-24 14:12:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:47 ago, cause: software
2025-04-24 14:12:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:42 [debug] Moves scheduled 26534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4015209818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:12:42 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23235, writes 0 timeouts 0
2025-04-24 14:12:42 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36097/37168
2025-04-24 14:12:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:42 [info] currentZPosition:0.0106
2025-04-24 14:12:43 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:44 [debug] Stopped at height 0.011 mm
2025-04-24 14:12:44 [debug] Diagnostics for board 50:
2025-04-24 14:12:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:49 ago, cause: software
2025-04-24 14:12:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:44 [debug] Moves scheduled 26540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4013960975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:12:44 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20932, writes 0 timeouts 0
2025-04-24 14:12:44 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36270/37142
2025-04-24 14:12:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:44 [info] currentZPosition:0.0106
2025-04-24 14:12:44 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:46 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:46 [debug] Diagnostics for board 50:
2025-04-24 14:12:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:51 ago, cause: software
2025-04-24 14:12:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:46 [debug] Moves scheduled 26546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4012552515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:12:46 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23593, writes 0 timeouts 0
2025-04-24 14:12:46 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36164/37161
2025-04-24 14:12:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:46 [info] currentZPosition:0.0103
2025-04-24 14:12:46 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:48 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:48 [debug] Diagnostics for board 50:
2025-04-24 14:12:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:14:52 ago, cause: software
2025-04-24 14:12:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:48 [debug] Moves scheduled 26552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter -1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4011290090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:12:48 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21174, writes 0 timeouts 0
2025-04-24 14:12:48 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36214/37097
2025-04-24 14:12:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8767, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:48 [info] currentZPosition:0.00974
2025-04-24 14:12:49 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:49 [debug] Diagnostics for board 50:
2025-04-24 14:12:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:54 ago, cause: software
2025-04-24 14:12:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:49 [debug] Moves scheduled 26556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4010123556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:12:49 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19547, writes 0 timeouts 0
2025-04-24 14:12:49 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36134/37162
2025-04-24 14:12:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8743, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:49 [info] currentZPosition:0.0102
2025-04-24 14:12:50 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:50 [debug] Diagnostics for board 50:
2025-04-24 14:12:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:55 ago, cause: software
2025-04-24 14:12:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:50 [debug] Moves scheduled 26560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4009109599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:12:50 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16992, writes 0 timeouts 0
2025-04-24 14:12:50 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36233/37101
2025-04-24 14:12:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:51 [info] currentZPosition:0.0104
2025-04-24 14:12:52 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:52 [debug] Diagnostics for board 50:
2025-04-24 14:12:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:14:57 ago, cause: software
2025-04-24 14:12:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:52 [debug] Moves scheduled 26564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4007929055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 
2025-04-24 14:12:52 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19777, writes 0 timeouts 0
2025-04-24 14:12:52 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36119/37092
2025-04-24 14:12:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:52 [info] currentZPosition:0.00994
2025-04-24 14:12:53 [debug] Stopped at height 0.011 mm
2025-04-24 14:12:53 [debug] Diagnostics for board 50:
2025-04-24 14:12:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:14:58 ago, cause: software
2025-04-24 14:12:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:53 [debug] Moves scheduled 26568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4006923155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:12:53 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16856, writes 0 timeouts 0
2025-04-24 14:12:53 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36232/37114
2025-04-24 14:12:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:53 [info] currentZPosition:0.0106
2025-04-24 14:12:55 [debug] Stopped at height 0.011 mm
2025-04-24 14:12:55 [debug] Diagnostics for board 50:
2025-04-24 14:12:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:00 ago, cause: software
2025-04-24 14:12:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:55 [debug] Moves scheduled 26572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4005753039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:12:55 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19598, writes 0 timeouts 0
2025-04-24 14:12:55 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 439, adv 36132/37081
2025-04-24 14:12:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:55 [info] currentZPosition:0.0108
2025-04-24 14:12:56 [debug] Stopped at height 0.009 mm
2025-04-24 14:12:56 [debug] Diagnostics for board 50:
2025-04-24 14:12:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:01 ago, cause: software
2025-04-24 14:12:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:56 [debug] Moves scheduled 26576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4004702426 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:12:56 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17623, writes 0 timeouts 0
2025-04-24 14:12:56 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36226/37118
2025-04-24 14:12:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:56 [info] currentZPosition:0.00895
2025-04-24 14:12:57 [debug] Stopped at height 0.008 mm
2025-04-24 14:12:58 [debug] Stopped at height 0.010 mm
2025-04-24 14:12:58 [debug] Diagnostics for board 50:
2025-04-24 14:12:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:12:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:15:03 ago, cause: software
2025-04-24 14:12:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:12:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:12:58 [debug] Moves scheduled 26582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4003316146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:12:58 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23229, writes 0 timeouts 0
2025-04-24 14:12:58 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36078/37107
2025-04-24 14:12:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:12:58 [info] currentZPosition:0.0103
2025-04-24 14:12:59 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:00 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:00 [debug] Diagnostics for board 50:
2025-04-24 14:13:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:05 ago, cause: software
2025-04-24 14:13:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:00 [debug] Moves scheduled 26588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4002059066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:13:00 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21074, writes 0 timeouts 0
2025-04-24 14:13:00 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36189/37129
2025-04-24 14:13:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:00 [info] currentZPosition:0.00984
2025-04-24 14:13:01 [debug] Stopped at height 0.008 mm
2025-04-24 14:13:01 [debug] Diagnostics for board 50:
2025-04-24 14:13:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:06 ago, cause: software
2025-04-24 14:13:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:01 [debug] Moves scheduled 26592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4000852397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 
2025-04-24 14:13:01 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20224, writes 0 timeouts 0
2025-04-24 14:13:01 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36126/37145
2025-04-24 14:13:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:02 [info] currentZPosition:0.00785
2025-04-24 14:13:02 [debug] Stopped at height 0.007 mm
2025-04-24 14:13:03 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:03 [debug] Diagnostics for board 50:
2025-04-24 14:13:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:08 ago, cause: software
2025-04-24 14:13:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:03 [debug] Moves scheduled 26598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15306
Sync err accum 107, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3999653114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max
2025-04-24 14:13:03 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20098, writes 0 timeouts 0
2025-04-24 14:13:03 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36272/37135
2025-04-24 14:13:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:03 [info] currentZPosition:0.0111
2025-04-24 14:13:03 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:05 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:05 [debug] Diagnostics for board 50:
2025-04-24 14:13:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:15:10 ago, cause: software
2025-04-24 14:13:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:05 [debug] Moves scheduled 26604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3998232785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max
2025-04-24 14:13:05 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23807, writes 0 timeouts 0
2025-04-24 14:13:05 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36162/37141
2025-04-24 14:13:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:05 [info] currentZPosition:0.0107
2025-04-24 14:13:06 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:06 [debug] Diagnostics for board 50:
2025-04-24 14:13:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:11 ago, cause: software
2025-04-24 14:13:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:06 [debug] Moves scheduled 26608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3997185382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 
2025-04-24 14:13:06 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17554, writes 0 timeouts 0
2025-04-24 14:13:06 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36246/37165
2025-04-24 14:13:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:06 [info] currentZPosition:0.00895
2025-04-24 14:13:07 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:08 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:08 [debug] Diagnostics for board 50:
2025-04-24 14:13:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:15:13 ago, cause: software
2025-04-24 14:13:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:08 [debug] Moves scheduled 26614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3995768508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:13:08 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23727, writes 0 timeouts 0
2025-04-24 14:13:08 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36125/37119
2025-04-24 14:13:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:08 [info] currentZPosition:0.00855
2025-04-24 14:13:10 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:10 [debug] Diagnostics for board 50:
2025-04-24 14:13:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:15:14 ago, cause: software
2025-04-24 14:13:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:10 [debug] Moves scheduled 26618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3994782594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:13:10 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16549, writes 0 timeouts 0
2025-04-24 14:13:10 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36216/37131
2025-04-24 14:13:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:10 [info] currentZPosition:0.0100
2025-04-24 14:13:10 [debug] Stopped at height 0.008 mm
2025-04-24 14:13:11 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:11 [debug] Diagnostics for board 50:
2025-04-24 14:13:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:16 ago, cause: software
2025-04-24 14:13:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:11 [debug] Moves scheduled 26624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3993390725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:13:11 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23341, writes 0 timeouts 0
2025-04-24 14:13:11 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36103/37128
2025-04-24 14:13:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:11 [info] currentZPosition:0.0106
2025-04-24 14:13:12 [debug] Stopped at height 0.008 mm
2025-04-24 14:13:13 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:13 [debug] Diagnostics for board 50:
2025-04-24 14:13:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:18 ago, cause: software
2025-04-24 14:13:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:13 [debug] Moves scheduled 26630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 93, peak jitter 0/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3992113201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:13:13 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21409, writes 0 timeouts 0
2025-04-24 14:13:13 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36201/37169
2025-04-24 14:13:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:13 [info] currentZPosition:0.00905
2025-04-24 14:13:15 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:15 [debug] Diagnostics for board 50:
2025-04-24 14:13:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:19 ago, cause: software
2025-04-24 14:13:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:15 [debug] Moves scheduled 26634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 96, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3990971403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 3
2025-04-24 14:13:15 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19128, writes 0 timeouts 0
2025-04-24 14:13:15 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36159/37149
2025-04-24 14:13:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8711, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:15 [info] currentZPosition:0.0108
2025-04-24 14:13:15 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:16 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:16 [debug] Diagnostics for board 50:
2025-04-24 14:13:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:21 ago, cause: software
2025-04-24 14:13:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:16 [debug] Moves scheduled 26640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3989718209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:13:16 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21029, writes 0 timeouts 0
2025-04-24 14:13:16 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36266/37112
2025-04-24 14:13:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:16 [info] currentZPosition:0.0104
2025-04-24 14:13:18 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:18 [debug] Diagnostics for board 50:
2025-04-24 14:13:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:23 ago, cause: software
2025-04-24 14:13:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:18 [debug] Moves scheduled 26644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3988525062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:13:18 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19976, writes 0 timeouts 0
2025-04-24 14:13:18 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36145/37162
2025-04-24 14:13:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:18 [info] currentZPosition:0.00934
2025-04-24 14:13:19 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:19 [debug] Diagnostics for board 50:
2025-04-24 14:13:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:24 ago, cause: software
2025-04-24 14:13:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:19 [debug] Moves scheduled 26648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3987551910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:13:19 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16312, writes 0 timeouts 0
2025-04-24 14:13:19 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36212/37116
2025-04-24 14:13:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:19 [info] currentZPosition:0.0117
2025-04-24 14:13:20 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:21 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:21 [debug] Diagnostics for board 50:
2025-04-24 14:13:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:15:26 ago, cause: software
2025-04-24 14:13:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:21 [debug] Moves scheduled 26654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -4/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3986140317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:13:21 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23693, writes 0 timeouts 0
2025-04-24 14:13:21 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 343, adv 36156/37154
2025-04-24 14:13:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8729, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:21 [info] currentZPosition:0.0113
2025-04-24 14:13:22 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:22 [debug] Diagnostics for board 50:
2025-04-24 14:13:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:27 ago, cause: software
2025-04-24 14:13:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:22 [debug] Moves scheduled 26658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15306
Sync err accum 69, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3985106422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 3
2025-04-24 14:13:22 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17292, writes 0 timeouts 0
2025-04-24 14:13:22 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36279/37122
2025-04-24 14:13:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:23 [info] currentZPosition:0.0103
2025-04-24 14:13:24 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:24 [debug] Diagnostics for board 50:
2025-04-24 14:13:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:29 ago, cause: software
2025-04-24 14:13:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:24 [debug] Moves scheduled 26662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3983940039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:13:24 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19541, writes 0 timeouts 0
2025-04-24 14:13:24 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36164/37112
2025-04-24 14:13:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8718, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:24 [info] currentZPosition:0.0110
2025-04-24 14:13:25 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:25 [debug] Diagnostics for board 50:
2025-04-24 14:13:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:30 ago, cause: software
2025-04-24 14:13:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:25 [debug] Moves scheduled 26666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3982921476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:13:25 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17096, writes 0 timeouts 0
2025-04-24 14:13:25 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36259/37139
2025-04-24 14:13:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:25 [info] currentZPosition:0.0107
2025-04-24 14:13:27 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:27 [debug] Diagnostics for board 50:
2025-04-24 14:13:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:32 ago, cause: software
2025-04-24 14:13:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:27 [debug] Moves scheduled 26670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3981719823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:13:27 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20101, writes 0 timeouts 0
2025-04-24 14:13:27 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36135/37120
2025-04-24 14:13:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:27 [info] currentZPosition:0.00934
2025-04-24 14:13:27 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:29 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:29 [debug] Diagnostics for board 50:
2025-04-24 14:13:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:33 ago, cause: software
2025-04-24 14:13:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:29 [debug] Moves scheduled 26676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 303, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3980493491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 3
2025-04-24 14:13:29 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20581, writes 0 timeouts 0
2025-04-24 14:13:29 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35790/37135
2025-04-24 14:13:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8716, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:29 [info] currentZPosition:0.0111
2025-04-24 14:13:29 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:30 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:30 [debug] Diagnostics for board 50:
2025-04-24 14:13:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:35 ago, cause: software
2025-04-24 14:13:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:30 [debug] Moves scheduled 26682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15306
Sync err accum 75, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3979058172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:13:30 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24032, writes 0 timeouts 0
2025-04-24 14:13:30 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35714/37171
2025-04-24 14:13:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:31 [info] currentZPosition:0.00934
2025-04-24 14:13:32 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:32 [debug] Diagnostics for board 50:
2025-04-24 14:13:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:37 ago, cause: software
2025-04-24 14:13:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:32 [debug] Moves scheduled 26686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 66, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3978036936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:13:32 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17145, writes 0 timeouts 0
2025-04-24 14:13:32 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 427, adv 35762/37113
2025-04-24 14:13:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:32 [info] currentZPosition:0.0102
2025-04-24 14:13:33 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:33 [debug] Diagnostics for board 50:
2025-04-24 14:13:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:15:38 ago, cause: software
2025-04-24 14:13:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:33 [debug] Moves scheduled 26690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3976909035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:13:33 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18898, writes 0 timeouts 0
2025-04-24 14:13:33 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35789/37082
2025-04-24 14:13:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:33 [info] currentZPosition:0.0115
2025-04-24 14:13:34 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:35 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:35 [debug] Diagnostics for board 50:
2025-04-24 14:13:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:40 ago, cause: software
2025-04-24 14:13:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:35 [debug] Moves scheduled 26696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3975624632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 3
2025-04-24 14:13:35 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21529, writes 0 timeouts 0
2025-04-24 14:13:35 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35667/37168
2025-04-24 14:13:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:35 [info] currentZPosition:0.0116
2025-04-24 14:13:36 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:37 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:37 [debug] Diagnostics for board 50:
2025-04-24 14:13:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:15:42 ago, cause: software
2025-04-24 14:13:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:37 [debug] Moves scheduled 26702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3974201822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:13:37 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23831, writes 0 timeouts 0
2025-04-24 14:13:37 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35919/37120
2025-04-24 14:13:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:37 [info] currentZPosition:0.00934
2025-04-24 14:13:37 [debug] Stopped at height 0.007 mm
2025-04-24 14:13:38 [debug] Stopped at height 0.006 mm
2025-04-24 14:13:39 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:39 [debug] Diagnostics for board 50:
2025-04-24 14:13:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:44 ago, cause: software
2025-04-24 14:13:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:39 [debug] Moves scheduled 26710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3972651898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:13:39 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26002, writes 0 timeouts 0
2025-04-24 14:13:39 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36192/37124
2025-04-24 14:13:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:39 [info] currentZPosition:0.00984
2025-04-24 14:13:39 [debug] Stopped at height 0.008 mm
2025-04-24 14:13:40 [debug] Stopped at height 0.006 mm
2025-04-24 14:13:41 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:41 [debug] Diagnostics for board 50:
2025-04-24 14:13:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:15:46 ago, cause: software
2025-04-24 14:13:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:41 [debug] Moves scheduled 26718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3971021133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:13:41 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27324, writes 0 timeouts 0
2025-04-24 14:13:41 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36212/37149
2025-04-24 14:13:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8858, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:41 [info] currentZPosition:0.00875
2025-04-24 14:13:42 [debug] Stopped at height 0.007 mm
2025-04-24 14:13:43 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:43 [debug] Diagnostics for board 50:
2025-04-24 14:13:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:15:48 ago, cause: software
2025-04-24 14:13:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:43 [debug] Moves scheduled 26724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3969731168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:13:43 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21648, writes 0 timeouts 0
2025-04-24 14:13:43 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36020/37140
2025-04-24 14:13:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:43 [info] currentZPosition:0.0100
2025-04-24 14:13:43 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:45 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:45 [debug] Diagnostics for board 50:
2025-04-24 14:13:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:50 ago, cause: software
2025-04-24 14:13:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:45 [debug] Moves scheduled 26730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 62, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3968420846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:13:45 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21943, writes 0 timeouts 0
2025-04-24 14:13:45 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36304/37125
2025-04-24 14:13:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8710, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:45 [info] currentZPosition:0.0121
2025-04-24 14:13:45 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:46 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:46 [debug] Diagnostics for board 50:
2025-04-24 14:13:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:51 ago, cause: software
2025-04-24 14:13:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:46 [debug] Moves scheduled 26736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 74, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3967083504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.7C, max 
2025-04-24 14:13:46 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22439, writes 0 timeouts 0
2025-04-24 14:13:46 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36080/37115
2025-04-24 14:13:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:47 [info] currentZPosition:0.0115
2025-04-24 14:13:48 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:48 [debug] Diagnostics for board 50:
2025-04-24 14:13:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:53 ago, cause: software
2025-04-24 14:13:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:48 [debug] Moves scheduled 26740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3965985870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:13:48 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18376, writes 0 timeouts 0
2025-04-24 14:13:48 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36321/37136
2025-04-24 14:13:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:48 [info] currentZPosition:0.0115
2025-04-24 14:13:49 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:49 [debug] Diagnostics for board 50:
2025-04-24 14:13:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:54 ago, cause: software
2025-04-24 14:13:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:49 [debug] Moves scheduled 26744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967243 ticks, disabled, next step interrupt due in 3964860350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 14:13:49 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18870, writes 0 timeouts 0
2025-04-24 14:13:49 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35734/37112
2025-04-24 14:13:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:50 [info] currentZPosition:0.0109
2025-04-24 14:13:51 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:51 [debug] Diagnostics for board 50:
2025-04-24 14:13:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:56 ago, cause: software
2025-04-24 14:13:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:51 [debug] Moves scheduled 26748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3963782205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 
2025-04-24 14:13:51 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18074, writes 0 timeouts 0
2025-04-24 14:13:51 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 414, adv 35779/37172
2025-04-24 14:13:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:51 [info] currentZPosition:0.0108
2025-04-24 14:13:52 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:52 [debug] Diagnostics for board 50:
2025-04-24 14:13:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:57 ago, cause: software
2025-04-24 14:13:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:52 [debug] Moves scheduled 26752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3962656722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 
2025-04-24 14:13:52 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18865, writes 0 timeouts 0
2025-04-24 14:13:52 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36252/37110
2025-04-24 14:13:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:52 [info] currentZPosition:0.0114
2025-04-24 14:13:54 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:54 [debug] Diagnostics for board 50:
2025-04-24 14:13:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:15:59 ago, cause: software
2025-04-24 14:13:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:54 [debug] Moves scheduled 26756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3961602506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:13:54 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17656, writes 0 timeouts 0
2025-04-24 14:13:54 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36092/37157
2025-04-24 14:13:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8757, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:54 [info] currentZPosition:0.0115
2025-04-24 14:13:55 [debug] Stopped at height 0.012 mm
2025-04-24 14:13:55 [debug] Diagnostics for board 50:
2025-04-24 14:13:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:00 ago, cause: software
2025-04-24 14:13:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:55 [debug] Moves scheduled 26760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 61, peak jitter -2/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3960461575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:13:55 [debug] Driver 0: pos -3445, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19138, writes 0 timeouts 0
2025-04-24 14:13:55 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35813/37115
2025-04-24 14:13:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:55 [info] currentZPosition:0.0123
2025-04-24 14:13:57 [debug] Stopped at height 0.010 mm
2025-04-24 14:13:57 [debug] Diagnostics for board 50:
2025-04-24 14:13:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:02 ago, cause: software
2025-04-24 14:13:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:57 [debug] Moves scheduled 26764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3959378795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:13:57 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18183, writes 0 timeouts 0
2025-04-24 14:13:57 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35744/37124
2025-04-24 14:13:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:57 [info] currentZPosition:0.00974
2025-04-24 14:13:57 [debug] Stopped at height 0.009 mm
2025-04-24 14:13:59 [debug] Stopped at height 0.011 mm
2025-04-24 14:13:59 [debug] Diagnostics for board 50:
2025-04-24 14:13:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:13:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:03 ago, cause: software
2025-04-24 14:13:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:13:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:13:59 [debug] Moves scheduled 26770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3957986717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:13:59 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23324, writes 0 timeouts 0
2025-04-24 14:13:59 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35984/37121
2025-04-24 14:13:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8767, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:13:59 [info] currentZPosition:0.0111
2025-04-24 14:13:59 [debug] Stopped at height 0.008 mm
2025-04-24 14:13:59 [debug] Stopped at height 0.006 mm
2025-04-24 14:14:01 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:01 [debug] Diagnostics for board 50:
2025-04-24 14:14:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:05 ago, cause: software
2025-04-24 14:14:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:01 [debug] Moves scheduled 26778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3956492985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 
2025-04-24 14:14:01 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25068, writes 0 timeouts 0
2025-04-24 14:14:01 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36355/37148
2025-04-24 14:14:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8749, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:01 [info] currentZPosition:0.0118
2025-04-24 14:14:01 [debug] Stopped at height 0.010 mm
2025-04-24 14:14:02 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:02 [debug] Diagnostics for board 50:
2025-04-24 14:14:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:07 ago, cause: software
2025-04-24 14:14:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:02 [debug] Moves scheduled 26784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3955050339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max 
2025-04-24 14:14:02 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24212, writes 0 timeouts 0
2025-04-24 14:14:02 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36007/37150
2025-04-24 14:14:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:03 [info] currentZPosition:0.0108
2025-04-24 14:14:04 [debug] Stopped at height 0.010 mm
2025-04-24 14:14:04 [debug] Diagnostics for board 50:
2025-04-24 14:14:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:09 ago, cause: software
2025-04-24 14:14:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:04 [debug] Moves scheduled 26788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3954027625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:14:04 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17129, writes 0 timeouts 0
2025-04-24 14:14:04 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35694/37161
2025-04-24 14:14:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:04 [info] currentZPosition:0.0103
2025-04-24 14:14:05 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:05 [debug] Diagnostics for board 50:
2025-04-24 14:14:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:10 ago, cause: software
2025-04-24 14:14:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:05 [debug] Moves scheduled 26792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3952870246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:14:05 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19404, writes 0 timeouts 0
2025-04-24 14:14:05 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35871/37167
2025-04-24 14:14:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:05 [info] currentZPosition:0.0117
2025-04-24 14:14:06 [debug] Stopped at height 0.010 mm
2025-04-24 14:14:07 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:07 [debug] Diagnostics for board 50:
2025-04-24 14:14:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:16:12 ago, cause: software
2025-04-24 14:14:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:07 [debug] Moves scheduled 26798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3951625634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:14:07 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20885, writes 0 timeouts 0
2025-04-24 14:14:07 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35843/37160
2025-04-24 14:14:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:07 [info] currentZPosition:0.0117
2025-04-24 14:14:08 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:09 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:09 [debug] Diagnostics for board 50:
2025-04-24 14:14:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:14 ago, cause: software
2025-04-24 14:14:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:09 [debug] Moves scheduled 26804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3950190575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:14:09 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24046, writes 0 timeouts 0
2025-04-24 14:14:09 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35743/37109
2025-04-24 14:14:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8761, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:09 [info] currentZPosition:0.0108
2025-04-24 14:14:10 [debug] Stopped at height 0.013 mm
2025-04-24 14:14:10 [debug] Diagnostics for board 50:
2025-04-24 14:14:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:16:15 ago, cause: software
2025-04-24 14:14:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:10 [debug] Moves scheduled 26808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3949213520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:14:10 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16390, writes 0 timeouts 0
2025-04-24 14:14:10 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36040/37128
2025-04-24 14:14:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8704, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:10 [info] currentZPosition:0.0127
2025-04-24 14:14:11 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:12 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:12 [debug] Diagnostics for board 50:
2025-04-24 14:14:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:17 ago, cause: software
2025-04-24 14:14:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:12 [debug] Moves scheduled 26814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3947778656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:14:12 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24058, writes 0 timeouts 0
2025-04-24 14:14:12 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35614/37142
2025-04-24 14:14:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:12 [info] currentZPosition:0.0117
2025-04-24 14:14:14 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:14 [debug] Diagnostics for board 50:
2025-04-24 14:14:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:18 ago, cause: software
2025-04-24 14:14:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:14 [debug] Moves scheduled 26818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3946768785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:14:14 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16925, writes 0 timeouts 0
2025-04-24 14:14:14 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36319/37154
2025-04-24 14:14:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:14 [info] currentZPosition:0.0117
2025-04-24 14:14:15 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:15 [debug] Diagnostics for board 50:
2025-04-24 14:14:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:20 ago, cause: software
2025-04-24 14:14:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:15 [debug] Moves scheduled 26822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3945583958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:14:15 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19862, writes 0 timeouts 0
2025-04-24 14:14:15 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36316/37118
2025-04-24 14:14:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:15 [info] currentZPosition:0.0115
2025-04-24 14:14:16 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:16 [debug] Diagnostics for board 50:
2025-04-24 14:14:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:21 ago, cause: software
2025-04-24 14:14:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:16 [debug] Moves scheduled 26826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 72, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3944583228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:14:16 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16771, writes 0 timeouts 0
2025-04-24 14:14:16 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 35738/37118
2025-04-24 14:14:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:17 [info] currentZPosition:0.0121
2025-04-24 14:14:18 [debug] Stopped at height 0.010 mm
2025-04-24 14:14:18 [debug] Diagnostics for board 50:
2025-04-24 14:14:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:23 ago, cause: software
2025-04-24 14:14:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:18 [debug] Moves scheduled 26830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3943360213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:14:18 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20516, writes 0 timeouts 0
2025-04-24 14:14:18 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36202/37156
2025-04-24 14:14:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:18 [info] currentZPosition:0.00984
2025-04-24 14:14:19 [debug] Stopped at height 0.009 mm
2025-04-24 14:14:20 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:20 [debug] Diagnostics for board 50:
2025-04-24 14:14:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:25 ago, cause: software
2025-04-24 14:14:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:20 [debug] Moves scheduled 26836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 77, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3942123508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:14:20 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20744, writes 0 timeouts 0
2025-04-24 14:14:20 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35858/37120
2025-04-24 14:14:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:20 [info] currentZPosition:0.0107
2025-04-24 14:14:21 [debug] Stopped at height 0.013 mm
2025-04-24 14:14:21 [debug] Diagnostics for board 50:
2025-04-24 14:14:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:26 ago, cause: software
2025-04-24 14:14:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:21 [debug] Moves scheduled 26840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 94, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3940973885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:14:21 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19280, writes 0 timeouts 0
2025-04-24 14:14:21 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36032/37132
2025-04-24 14:14:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:21 [info] currentZPosition:0.0125
2025-04-24 14:14:22 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:23 [debug] Stopped at height 0.010 mm
2025-04-24 14:14:23 [debug] Diagnostics for board 50:
2025-04-24 14:14:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:28 ago, cause: software
2025-04-24 14:14:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:23 [debug] Moves scheduled 26846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3939678439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:14:23 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21717, writes 0 timeouts 0
2025-04-24 14:14:23 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36083/37124
2025-04-24 14:14:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:23 [info] currentZPosition:0.00974
2025-04-24 14:14:23 [debug] Stopped at height 0.009 mm
2025-04-24 14:14:25 [debug] Stopped at height 0.013 mm
2025-04-24 14:14:25 [debug] Diagnostics for board 50:
2025-04-24 14:14:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:30 ago, cause: software
2025-04-24 14:14:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:25 [debug] Moves scheduled 26852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3938316717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:14:25 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22845, writes 0 timeouts 0
2025-04-24 14:14:25 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35928/37143
2025-04-24 14:14:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8700, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:25 [info] currentZPosition:0.0127
2025-04-24 14:14:25 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:26 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:26 [debug] Diagnostics for board 50:
2025-04-24 14:14:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:31 ago, cause: software
2025-04-24 14:14:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:26 [debug] Moves scheduled 26858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3937051003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:14:26 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21228, writes 0 timeouts 0
2025-04-24 14:14:26 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36309/37128
2025-04-24 14:14:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:27 [info] currentZPosition:0.0114
2025-04-24 14:14:28 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:28 [debug] Diagnostics for board 50:
2025-04-24 14:14:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:16:33 ago, cause: software
2025-04-24 14:14:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:28 [debug] Moves scheduled 26862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3935879917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max
2025-04-24 14:14:28 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19636, writes 0 timeouts 0
2025-04-24 14:14:28 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35817/37144
2025-04-24 14:14:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8725, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:28 [info] currentZPosition:0.0118
2025-04-24 14:14:29 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:29 [debug] Diagnostics for board 50:
2025-04-24 14:14:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:34 ago, cause: software
2025-04-24 14:14:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:29 [debug] Moves scheduled 26866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3934857692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:14:29 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17137, writes 0 timeouts 0
2025-04-24 14:14:29 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35730/37083
2025-04-24 14:14:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:30 [info] currentZPosition:0.0112
2025-04-24 14:14:31 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:31 [debug] Diagnostics for board 50:
2025-04-24 14:14:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:16:36 ago, cause: software
2025-04-24 14:14:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:31 [debug] Moves scheduled 26870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3933676029 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:14:31 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19818, writes 0 timeouts 0
2025-04-24 14:14:31 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35687/37128
2025-04-24 14:14:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:31 [info] currentZPosition:0.0111
2025-04-24 14:14:32 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:32 [debug] Diagnostics for board 50:
2025-04-24 14:14:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:37 ago, cause: software
2025-04-24 14:14:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:32 [debug] Moves scheduled 26874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3932684789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:14:32 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16609, writes 0 timeouts 0
2025-04-24 14:14:32 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35984/37137
2025-04-24 14:14:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:32 [info] currentZPosition:0.0122
2025-04-24 14:14:34 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:34 [debug] Diagnostics for board 50:
2025-04-24 14:14:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:16:39 ago, cause: software
2025-04-24 14:14:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:34 [debug] Moves scheduled 26878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3931471775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:14:34 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20333, writes 0 timeouts 0
2025-04-24 14:14:34 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36304/37103
2025-04-24 14:14:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:34 [info] currentZPosition:0.0105
2025-04-24 14:14:34 [debug] Stopped at height 0.009 mm
2025-04-24 14:14:36 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:36 [debug] Diagnostics for board 50:
2025-04-24 14:14:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:40 ago, cause: software
2025-04-24 14:14:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:36 [debug] Moves scheduled 26884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3930234891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:14:36 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20731, writes 0 timeouts 0
2025-04-24 14:14:36 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36167/37113
2025-04-24 14:14:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:36 [info] currentZPosition:0.0118
2025-04-24 14:14:36 [debug] Stopped at height 0.010 mm
2025-04-24 14:14:37 [debug] Stopped at height 0.013 mm
2025-04-24 14:14:37 [debug] Diagnostics for board 50:
2025-04-24 14:14:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:42 ago, cause: software
2025-04-24 14:14:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:37 [debug] Moves scheduled 26890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3928837962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:14:37 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23433, writes 0 timeouts 0
2025-04-24 14:14:37 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36234/37144
2025-04-24 14:14:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:38 [info] currentZPosition:0.0127
2025-04-24 14:14:38 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:39 [debug] Stopped at height 0.013 mm
2025-04-24 14:14:39 [debug] Diagnostics for board 50:
2025-04-24 14:14:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:44 ago, cause: software
2025-04-24 14:14:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:39 [debug] Moves scheduled 26896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3927581423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:14:39 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21060, writes 0 timeouts 0
2025-04-24 14:14:39 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 35710/37152
2025-04-24 14:14:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:39 [info] currentZPosition:0.0125
2025-04-24 14:14:41 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:41 [debug] Diagnostics for board 50:
2025-04-24 14:14:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:16:46 ago, cause: software
2025-04-24 14:14:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:41 [debug] Moves scheduled 26900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3926384947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 32.9C, max
2025-04-24 14:14:41 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20085, writes 0 timeouts 0
2025-04-24 14:14:41 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36032/37105
2025-04-24 14:14:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:41 [info] currentZPosition:0.0117
2025-04-24 14:14:42 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:42 [debug] Diagnostics for board 50:
2025-04-24 14:14:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:47 ago, cause: software
2025-04-24 14:14:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:42 [debug] Moves scheduled 26904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3925378201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:14:42 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16863, writes 0 timeouts 0
2025-04-24 14:14:42 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35820/37122
2025-04-24 14:14:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:42 [info] currentZPosition:0.0119
2025-04-24 14:14:44 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:44 [debug] Diagnostics for board 50:
2025-04-24 14:14:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:48 ago, cause: software
2025-04-24 14:14:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:44 [debug] Moves scheduled 26908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 85, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3924097742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:14:44 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23158, writes 0 timeouts 0
2025-04-24 14:14:44 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35986/37086
2025-04-24 14:14:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:44 [info] currentZPosition:0.0120
2025-04-24 14:14:46 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:46 [debug] Diagnostics for board 50:
2025-04-24 14:14:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:51 ago, cause: software
2025-04-24 14:14:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:46 [debug] Moves scheduled 26912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3922189907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:14:46 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 30344, writes 0 timeouts 0
2025-04-24 14:14:46 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 63, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36009/37141
2025-04-24 14:14:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:46 [info] currentZPosition:0.0119
2025-04-24 14:14:48 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:48 [debug] Diagnostics for board 50:
2025-04-24 14:14:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:53 ago, cause: software
2025-04-24 14:14:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:48 [debug] Moves scheduled 26916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3921014766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:14:48 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19731, writes 0 timeouts 0
2025-04-24 14:14:48 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35805/37127
2025-04-24 14:14:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:48 [info] currentZPosition:0.0120
2025-04-24 14:14:49 [debug] Stopped at height 0.011 mm
2025-04-24 14:14:49 [debug] Diagnostics for board 50:
2025-04-24 14:14:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:54 ago, cause: software
2025-04-24 14:14:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:49 [debug] Moves scheduled 26920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 100, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3919982269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:14:49 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17267, writes 0 timeouts 0
2025-04-24 14:14:49 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36221/37154
2025-04-24 14:14:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:49 [info] currentZPosition:0.0110
2025-04-24 14:14:51 [debug] Stopped at height 0.013 mm
2025-04-24 14:14:51 [debug] Diagnostics for board 50:
2025-04-24 14:14:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:56 ago, cause: software
2025-04-24 14:14:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:51 [debug] Moves scheduled 26924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3918836366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:14:51 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19229, writes 0 timeouts 0
2025-04-24 14:14:51 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 335, adv 35734/37162
2025-04-24 14:14:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:51 [info] currentZPosition:0.0127
2025-04-24 14:14:51 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:52 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:52 [debug] Diagnostics for board 50:
2025-04-24 14:14:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:16:57 ago, cause: software
2025-04-24 14:14:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:52 [debug] Moves scheduled 26930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 78, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3917570703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:14:52 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21256, writes 0 timeouts 0
2025-04-24 14:14:52 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35619/37119
2025-04-24 14:14:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:53 [info] currentZPosition:0.0115
2025-04-24 14:14:54 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:54 [debug] Diagnostics for board 50:
2025-04-24 14:14:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:16:59 ago, cause: software
2025-04-24 14:14:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:54 [debug] Moves scheduled 26934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3916405605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:14:54 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19508, writes 0 timeouts 0
2025-04-24 14:14:54 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 333, adv 35637/37169
2025-04-24 14:14:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:54 [info] currentZPosition:0.0124
2025-04-24 14:14:55 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:55 [debug] Diagnostics for board 50:
2025-04-24 14:14:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:00 ago, cause: software
2025-04-24 14:14:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:55 [debug] Moves scheduled 26938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3915376975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:14:55 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17246, writes 0 timeouts 0
2025-04-24 14:14:55 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35882/37123
2025-04-24 14:14:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:55 [info] currentZPosition:0.0116
2025-04-24 14:14:57 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:57 [debug] Diagnostics for board 50:
2025-04-24 14:14:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:02 ago, cause: software
2025-04-24 14:14:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:57 [debug] Moves scheduled 26942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3914215031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:14:57 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19495, writes 0 timeouts 0
2025-04-24 14:14:57 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 426, adv 36277/37100
2025-04-24 14:14:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8723, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:57 [info] currentZPosition:0.0124
2025-04-24 14:14:58 [debug] Stopped at height 0.012 mm
2025-04-24 14:14:58 [debug] Diagnostics for board 50:
2025-04-24 14:14:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:14:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:17:03 ago, cause: software
2025-04-24 14:14:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:14:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:14:58 [debug] Moves scheduled 26946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3913205500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:14:58 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16906, writes 0 timeouts 0
2025-04-24 14:14:58 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36075/37146
2025-04-24 14:14:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8730, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:14:58 [info] currentZPosition:0.0124
2025-04-24 14:15:00 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:00 [debug] Diagnostics for board 50:
2025-04-24 14:15:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:05 ago, cause: software
2025-04-24 14:15:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:00 [debug] Moves scheduled 26950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3912021477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:15:00 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19845, writes 0 timeouts 0
2025-04-24 14:15:00 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36128/37111
2025-04-24 14:15:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:00 [info] currentZPosition:0.0121
2025-04-24 14:15:01 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:01 [debug] Diagnostics for board 50:
2025-04-24 14:15:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:17:06 ago, cause: software
2025-04-24 14:15:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:01 [debug] Moves scheduled 26954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3911000969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:01 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17130, writes 0 timeouts 0
2025-04-24 14:15:01 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35803/37094
2025-04-24 14:15:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:01 [info] currentZPosition:0.0118
2025-04-24 14:15:03 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:03 [debug] Diagnostics for board 50:
2025-04-24 14:15:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:08 ago, cause: software
2025-04-24 14:15:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:03 [debug] Moves scheduled 26958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3909854585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:03 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19196, writes 0 timeouts 0
2025-04-24 14:15:03 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36002/37136
2025-04-24 14:15:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8715, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 811
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:03 [info] currentZPosition:0.0134
2025-04-24 14:15:03 [debug] Stopped at height 0.010 mm
2025-04-24 14:15:04 [debug] Stopped at height 0.010 mm
2025-04-24 14:15:05 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:05 [debug] Diagnostics for board 50:
2025-04-24 14:15:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:10 ago, cause: software
2025-04-24 14:15:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:05 [debug] Moves scheduled 26966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 62, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3908344326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:05 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25319, writes 0 timeouts 0
2025-04-24 14:15:05 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36344/37148
2025-04-24 14:15:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:05 [info] currentZPosition:0.0130
2025-04-24 14:15:05 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:07 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:07 [debug] Diagnostics for board 50:
2025-04-24 14:15:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:12 ago, cause: software
2025-04-24 14:15:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:07 [debug] Moves scheduled 26972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3906895995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:15:07 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24304, writes 0 timeouts 0
2025-04-24 14:15:07 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35907/37162
2025-04-24 14:15:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:07 [info] currentZPosition:0.0114
2025-04-24 14:15:08 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:08 [debug] Diagnostics for board 50:
2025-04-24 14:15:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:13 ago, cause: software
2025-04-24 14:15:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:08 [debug] Moves scheduled 26976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 80, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3905889897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:15:08 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16840, writes 0 timeouts 0
2025-04-24 14:15:08 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 35789/37165
2025-04-24 14:15:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:08 [info] currentZPosition:0.0121
2025-04-24 14:15:10 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:10 [debug] Diagnostics for board 50:
2025-04-24 14:15:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:15 ago, cause: software
2025-04-24 14:15:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:10 [debug] Moves scheduled 26980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3904698065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:10 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19995, writes 0 timeouts 0
2025-04-24 14:15:10 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35812/37102
2025-04-24 14:15:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:10 [info] currentZPosition:0.0114
2025-04-24 14:15:11 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:11 [debug] Diagnostics for board 50:
2025-04-24 14:15:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:17:16 ago, cause: software
2025-04-24 14:15:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:11 [debug] Moves scheduled 26984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3903690525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:11 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16918, writes 0 timeouts 0
2025-04-24 14:15:11 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35920/37175
2025-04-24 14:15:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:11 [info] currentZPosition:0.0119
2025-04-24 14:15:13 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:13 [debug] Diagnostics for board 50:
2025-04-24 14:15:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:17 ago, cause: software
2025-04-24 14:15:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:13 [debug] Moves scheduled 26988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3902535142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:13 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19362, writes 0 timeouts 0
2025-04-24 14:15:13 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35674/37094
2025-04-24 14:15:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:13 [info] currentZPosition:0.0132
2025-04-24 14:15:13 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:14 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:14 [debug] Diagnostics for board 50:
2025-04-24 14:15:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:17:19 ago, cause: software
2025-04-24 14:15:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:14 [debug] Moves scheduled 26994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 60, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3901248143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:14 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21561, writes 0 timeouts 0
2025-04-24 14:15:14 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36085/37174
2025-04-24 14:15:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:14 [info] currentZPosition:0.0111
2025-04-24 14:15:16 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:16 [debug] Diagnostics for board 50:
2025-04-24 14:15:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:21 ago, cause: software
2025-04-24 14:15:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:16 [debug] Moves scheduled 26998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter 0/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3900110961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:15:16 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19079, writes 0 timeouts 0
2025-04-24 14:15:16 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36334/37139
2025-04-24 14:15:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:16 [info] currentZPosition:0.0133
2025-04-24 14:15:16 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:17 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:17 [debug] Diagnostics for board 50:
2025-04-24 14:15:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:22 ago, cause: software
2025-04-24 14:15:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:17 [debug] Moves scheduled 27004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 89, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3898856542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:15:17 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21023, writes 0 timeouts 0
2025-04-24 14:15:17 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36255/37094
2025-04-24 14:15:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:18 [info] currentZPosition:0.0131
2025-04-24 14:15:19 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:19 [debug] Diagnostics for board 50:
2025-04-24 14:15:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:24 ago, cause: software
2025-04-24 14:15:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:19 [debug] Moves scheduled 27008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3897666668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:15:19 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19962, writes 0 timeouts 0
2025-04-24 14:15:19 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36193/37142
2025-04-24 14:15:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:19 [info] currentZPosition:0.0124
2025-04-24 14:15:20 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:20 [debug] Diagnostics for board 50:
2025-04-24 14:15:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:17:25 ago, cause: software
2025-04-24 14:15:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:20 [debug] Moves scheduled 27012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 101, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3896660956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:20 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16847, writes 0 timeouts 0
2025-04-24 14:15:20 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35756/37119
2025-04-24 14:15:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:20 [info] currentZPosition:0.0129
2025-04-24 14:15:22 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:22 [debug] Diagnostics for board 50:
2025-04-24 14:15:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:17:27 ago, cause: software
2025-04-24 14:15:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:22 [debug] Moves scheduled 27016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3895452037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:22 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20274, writes 0 timeouts 0
2025-04-24 14:15:22 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36098/37120
2025-04-24 14:15:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:22 [info] currentZPosition:0.0112
2025-04-24 14:15:22 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:24 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:24 [debug] Diagnostics for board 50:
2025-04-24 14:15:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:28 ago, cause: software
2025-04-24 14:15:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:24 [debug] Moves scheduled 27022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3894205550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:24 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20898, writes 0 timeouts 0
2025-04-24 14:15:24 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35862/37152
2025-04-24 14:15:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:24 [info] currentZPosition:0.0117
2025-04-24 14:15:25 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:25 [debug] Diagnostics for board 50:
2025-04-24 14:15:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:17:30 ago, cause: software
2025-04-24 14:15:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:25 [debug] Moves scheduled 27026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3893059630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:15:25 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19213, writes 0 timeouts 0
2025-04-24 14:15:25 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36010/37091
2025-04-24 14:15:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8753, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:25 [info] currentZPosition:0.0133
2025-04-24 14:15:26 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:27 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:27 [debug] Diagnostics for board 50:
2025-04-24 14:15:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:32 ago, cause: software
2025-04-24 14:15:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:27 [debug] Moves scheduled 27032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3891763056 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:15:27 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21734, writes 0 timeouts 0
2025-04-24 14:15:27 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36074/37159
2025-04-24 14:15:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:27 [info] currentZPosition:0.0108
2025-04-24 14:15:27 [debug] Stopped at height 0.010 mm
2025-04-24 14:15:29 [debug] Stopped at height 0.014 mm
2025-04-24 14:15:29 [debug] Diagnostics for board 50:
2025-04-24 14:15:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:34 ago, cause: software
2025-04-24 14:15:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:29 [debug] Moves scheduled 27038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 60, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3890400270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:29 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22861, writes 0 timeouts 0
2025-04-24 14:15:29 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35931/37098
2025-04-24 14:15:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8742, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:29 [info] currentZPosition:0.0136
2025-04-24 14:15:29 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:30 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:30 [debug] Diagnostics for board 50:
2025-04-24 14:15:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:17:35 ago, cause: software
2025-04-24 14:15:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:30 [debug] Moves scheduled 27044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 80, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3889121422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:15:30 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21484, writes 0 timeouts 0
2025-04-24 14:15:30 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36232/37141
2025-04-24 14:15:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:30 [info] currentZPosition:0.0126
2025-04-24 14:15:32 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:32 [debug] Diagnostics for board 50:
2025-04-24 14:15:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:37 ago, cause: software
2025-04-24 14:15:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:32 [debug] Moves scheduled 27048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3887931928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:15:32 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19891, writes 0 timeouts 0
2025-04-24 14:15:32 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35802/37116
2025-04-24 14:15:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:32 [info] currentZPosition:0.0121
2025-04-24 14:15:33 [debug] Stopped at height 0.014 mm
2025-04-24 14:15:33 [debug] Diagnostics for board 50:
2025-04-24 14:15:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:38 ago, cause: software
2025-04-24 14:15:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:33 [debug] Moves scheduled 27052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3886946114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:33 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16532, writes 0 timeouts 0
2025-04-24 14:15:33 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35621/37120
2025-04-24 14:15:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8747, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:33 [info] currentZPosition:0.0138
2025-04-24 14:15:34 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:35 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:35 [debug] Diagnostics for board 50:
2025-04-24 14:15:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:40 ago, cause: software
2025-04-24 14:15:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:35 [debug] Moves scheduled 27058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3885510066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:35 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24075, writes 0 timeouts 0
2025-04-24 14:15:35 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35681/37154
2025-04-24 14:15:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:35 [info] currentZPosition:0.0124
2025-04-24 14:15:37 [debug] Stopped at height 0.014 mm
2025-04-24 14:15:37 [debug] Diagnostics for board 50:
2025-04-24 14:15:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:41 ago, cause: software
2025-04-24 14:15:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:37 [debug] Moves scheduled 27062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3884517839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:15:37 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16620, writes 0 timeouts 0
2025-04-24 14:15:37 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35789/37137
2025-04-24 14:15:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:37 [info] currentZPosition:0.0137
2025-04-24 14:15:37 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:38 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:38 [debug] Diagnostics for board 50:
2025-04-24 14:15:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:43 ago, cause: software
2025-04-24 14:15:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:38 [debug] Moves scheduled 27068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3883058269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:15:38 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24470, writes 0 timeouts 0
2025-04-24 14:15:38 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 26, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36320/37149
2025-04-24 14:15:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:39 [info] currentZPosition:0.0110
2025-04-24 14:15:39 [debug] Stopped at height 0.009 mm
2025-04-24 14:15:39 [debug] Stopped at height 0.008 mm
2025-04-24 14:15:40 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:40 [debug] Diagnostics for board 50:
2025-04-24 14:15:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:45 ago, cause: software
2025-04-24 14:15:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:40 [debug] Moves scheduled 27076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3881566847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:15:40 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25024, writes 0 timeouts 0
2025-04-24 14:15:40 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 437, adv 36009/37137
2025-04-24 14:15:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:41 [info] currentZPosition:0.0121
2025-04-24 14:15:41 [debug] Stopped at height 0.011 mm
2025-04-24 14:15:42 [debug] Stopped at height 0.014 mm
2025-04-24 14:15:42 [debug] Diagnostics for board 50:
2025-04-24 14:15:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:17:47 ago, cause: software
2025-04-24 14:15:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:42 [debug] Moves scheduled 27082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 72, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3880184047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:15:42 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23210, writes 0 timeouts 0
2025-04-24 14:15:42 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36220/37125
2025-04-24 14:15:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8697, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:42 [info] currentZPosition:0.0142
2025-04-24 14:15:43 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:44 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:44 [debug] Diagnostics for board 50:
2025-04-24 14:15:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:17:49 ago, cause: software
2025-04-24 14:15:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:44 [debug] Moves scheduled 27088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -3/3, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3878899823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:44 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21516, writes 0 timeouts 0
2025-04-24 14:15:44 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36184/37148
2025-04-24 14:15:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:44 [info] currentZPosition:0.0124
2025-04-24 14:15:46 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:46 [debug] Diagnostics for board 50:
2025-04-24 14:15:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:17:50 ago, cause: software
2025-04-24 14:15:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:46 [debug] Moves scheduled 27092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3877719931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:15:46 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19784, writes 0 timeouts 0
2025-04-24 14:15:46 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36137/37122
2025-04-24 14:15:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:46 [info] currentZPosition:0.0120
2025-04-24 14:15:47 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:47 [debug] Diagnostics for board 50:
2025-04-24 14:15:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:52 ago, cause: software
2025-04-24 14:15:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:47 [debug] Moves scheduled 27096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 93, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3876727655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:15:47 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16653, writes 0 timeouts 0
2025-04-24 14:15:47 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35590/37155
2025-04-24 14:15:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:47 [info] currentZPosition:0.0133
2025-04-24 14:15:47 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:49 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:49 [debug] Diagnostics for board 50:
2025-04-24 14:15:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:17:54 ago, cause: software
2025-04-24 14:15:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:49 [debug] Moves scheduled 27102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3875306571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:49 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23830, writes 0 timeouts 0
2025-04-24 14:15:49 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36026/37118
2025-04-24 14:15:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:49 [info] currentZPosition:0.0126
2025-04-24 14:15:50 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:50 [debug] Diagnostics for board 50:
2025-04-24 14:15:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:17:55 ago, cause: software
2025-04-24 14:15:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:50 [debug] Moves scheduled 27106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3874280287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:50 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17195, writes 0 timeouts 0
2025-04-24 14:15:50 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35788/37145
2025-04-24 14:15:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:50 [info] currentZPosition:0.0121
2025-04-24 14:15:52 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:52 [debug] Diagnostics for board 50:
2025-04-24 14:15:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:17:57 ago, cause: software
2025-04-24 14:15:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:52 [debug] Moves scheduled 27110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15306
Sync err accum 105, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3873123737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:15:52 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19419, writes 0 timeouts 0
2025-04-24 14:15:52 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35860/37103
2025-04-24 14:15:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:52 [info] currentZPosition:0.0132
2025-04-24 14:15:53 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:53 [debug] Diagnostics for board 50:
2025-04-24 14:15:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:17:58 ago, cause: software
2025-04-24 14:15:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:53 [debug] Moves scheduled 27114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3872094795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:15:53 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17211, writes 0 timeouts 0
2025-04-24 14:15:53 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35930/37169
2025-04-24 14:15:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:53 [info] currentZPosition:0.0125
2025-04-24 14:15:55 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:55 [debug] Diagnostics for board 50:
2025-04-24 14:15:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:00 ago, cause: software
2025-04-24 14:15:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:55 [debug] Moves scheduled 27118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3870929711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:15:55 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19552, writes 0 timeouts 0
2025-04-24 14:15:55 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35775/37130
2025-04-24 14:15:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8745, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:55 [info] currentZPosition:0.0129
2025-04-24 14:15:56 [debug] Stopped at height 0.012 mm
2025-04-24 14:15:56 [debug] Diagnostics for board 50:
2025-04-24 14:15:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:01 ago, cause: software
2025-04-24 14:15:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:56 [debug] Moves scheduled 27122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -2/-2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3869900296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:15:56 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17275, writes 0 timeouts 0
2025-04-24 14:15:56 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36091/37109
2025-04-24 14:15:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:56 [info] currentZPosition:0.0121
2025-04-24 14:15:58 [debug] Stopped at height 0.013 mm
2025-04-24 14:15:58 [debug] Diagnostics for board 50:
2025-04-24 14:15:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:02 ago, cause: software
2025-04-24 14:15:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:58 [debug] Moves scheduled 27126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3868726679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:15:58 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19654, writes 0 timeouts 0
2025-04-24 14:15:58 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35689/37174
2025-04-24 14:15:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:58 [info] currentZPosition:0.0125
2025-04-24 14:15:59 [debug] Stopped at height 0.014 mm
2025-04-24 14:15:59 [debug] Diagnostics for board 50:
2025-04-24 14:15:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:15:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:04 ago, cause: software
2025-04-24 14:15:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:15:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:15:59 [debug] Moves scheduled 27130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3867733006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:15:59 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16670, writes 0 timeouts 0
2025-04-24 14:15:59 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36263/37098
2025-04-24 14:15:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:15:59 [info] currentZPosition:0.0141
2025-04-24 14:15:59 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:01 [debug] Stopped at height 0.012 mm
2025-04-24 14:16:01 [debug] Diagnostics for board 50:
2025-04-24 14:16:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:06 ago, cause: software
2025-04-24 14:16:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:01 [debug] Moves scheduled 27136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3866291477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:16:01 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24195, writes 0 timeouts 0
2025-04-24 14:16:01 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36319/37123
2025-04-24 14:16:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:01 [info] currentZPosition:0.0122
2025-04-24 14:16:02 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:02 [debug] Diagnostics for board 50:
2025-04-24 14:16:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:07 ago, cause: software
2025-04-24 14:16:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:02 [debug] Moves scheduled 27140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3865324534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:16:02 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16191, writes 0 timeouts 0
2025-04-24 14:16:02 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36262/37147
2025-04-24 14:16:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:02 [info] currentZPosition:0.0149
2025-04-24 14:16:03 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:04 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:04 [debug] Diagnostics for board 50:
2025-04-24 14:16:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:09 ago, cause: software
2025-04-24 14:16:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:04 [debug] Moves scheduled 27146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3863896302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:16:04 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23957, writes 0 timeouts 0
2025-04-24 14:16:04 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36159/37116
2025-04-24 14:16:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:04 [info] currentZPosition:0.0143
2025-04-24 14:16:05 [debug] Stopped at height 0.012 mm
2025-04-24 14:16:05 [debug] Diagnostics for board 50:
2025-04-24 14:16:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:10 ago, cause: software
2025-04-24 14:16:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:05 [debug] Moves scheduled 27150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3862837412 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:05 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17750, writes 0 timeouts 0
2025-04-24 14:16:05 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36122/37119
2025-04-24 14:16:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:06 [info] currentZPosition:0.0120
2025-04-24 14:16:06 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:07 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:07 [debug] Diagnostics for board 50:
2025-04-24 14:16:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:12 ago, cause: software
2025-04-24 14:16:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:07 [debug] Moves scheduled 27156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3861481342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:16:07 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22734, writes 0 timeouts 0
2025-04-24 14:16:07 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36045/37095
2025-04-24 14:16:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8744, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:07 [info] currentZPosition:0.0145
2025-04-24 14:16:08 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:09 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:09 [debug] Diagnostics for board 50:
2025-04-24 14:16:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:18:14 ago, cause: software
2025-04-24 14:16:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:09 [debug] Moves scheduled 27162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3860201925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:16:09 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21458, writes 0 timeouts 0
2025-04-24 14:16:09 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35681/37135
2025-04-24 14:16:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:09 [info] currentZPosition:0.0132
2025-04-24 14:16:10 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:10 [debug] Diagnostics for board 50:
2025-04-24 14:16:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:15 ago, cause: software
2025-04-24 14:16:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:10 [debug] Moves scheduled 27166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3859049253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:16:10 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19321, writes 0 timeouts 0
2025-04-24 14:16:10 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35906/37122
2025-04-24 14:16:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:11 [info] currentZPosition:0.0144
2025-04-24 14:16:12 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:12 [debug] Diagnostics for board 50:
2025-04-24 14:16:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:17 ago, cause: software
2025-04-24 14:16:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:12 [debug] Moves scheduled 27170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10273, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3858028550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:16:12 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17117, writes 0 timeouts 0
2025-04-24 14:16:12 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35780/37145
2025-04-24 14:16:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:12 [info] currentZPosition:0.0139
2025-04-24 14:16:13 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:13 [debug] Diagnostics for board 50:
2025-04-24 14:16:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:18 ago, cause: software
2025-04-24 14:16:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:13 [debug] Moves scheduled 27174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3856828346 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:16:13 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20111, writes 0 timeouts 0
2025-04-24 14:16:13 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 35878/37113
2025-04-24 14:16:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:14 [info] currentZPosition:0.0125
2025-04-24 14:16:14 [debug] Stopped at height 0.010 mm
2025-04-24 14:16:14 [debug] Stopped at height 0.009 mm
2025-04-24 14:16:15 [debug] Stopped at height 0.008 mm
2025-04-24 14:16:16 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:16 [debug] Diagnostics for board 50:
2025-04-24 14:16:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:21 ago, cause: software
2025-04-24 14:16:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:16 [debug] Moves scheduled 27184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3855107854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:16 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 28863, writes 0 timeouts 0
2025-04-24 14:16:16 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 33, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35931/37172
2025-04-24 14:16:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8735, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:16 [info] currentZPosition:0.0141
2025-04-24 14:16:16 [debug] Stopped at height 0.012 mm
2025-04-24 14:16:17 [debug] Stopped at height 0.012 mm
2025-04-24 14:16:18 [debug] Stopped at height 0.011 mm
2025-04-24 14:16:18 [debug] Diagnostics for board 50:
2025-04-24 14:16:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:23 ago, cause: software
2025-04-24 14:16:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:18 [debug] Moves scheduled 27192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3853399157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:18 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 28641, writes 0 timeouts 0
2025-04-24 14:16:18 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35743/37165
2025-04-24 14:16:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:18 [info] currentZPosition:0.0111
2025-04-24 14:16:19 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:19 [debug] Diagnostics for board 50:
2025-04-24 14:16:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:18:24 ago, cause: software
2025-04-24 14:16:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:19 [debug] Moves scheduled 27196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3852426892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:16:19 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16318, writes 0 timeouts 0
2025-04-24 14:16:19 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36138/37134
2025-04-24 14:16:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:19 [info] currentZPosition:0.0133
2025-04-24 14:16:20 [debug] Stopped at height 0.012 mm
2025-04-24 14:16:21 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:21 [debug] Diagnostics for board 50:
2025-04-24 14:16:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:26 ago, cause: software
2025-04-24 14:16:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:21 [debug] Moves scheduled 27202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3851032937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:16:21 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23388, writes 0 timeouts 0
2025-04-24 14:16:21 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35674/37116
2025-04-24 14:16:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8748, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:21 [info] currentZPosition:0.0139
2025-04-24 14:16:22 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:23 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:23 [debug] Diagnostics for board 50:
2025-04-24 14:16:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:28 ago, cause: software
2025-04-24 14:16:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:23 [debug] Moves scheduled 27208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3849794536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:16:23 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20759, writes 0 timeouts 0
2025-04-24 14:16:23 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36267/37096
2025-04-24 14:16:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:23 [info] currentZPosition:0.0144
2025-04-24 14:16:23 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:25 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:25 [debug] Diagnostics for board 50:
2025-04-24 14:16:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:30 ago, cause: software
2025-04-24 14:16:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:25 [debug] Moves scheduled 27214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 81, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3848333422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:16:25 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24489, writes 0 timeouts 0
2025-04-24 14:16:25 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36270/37167
2025-04-24 14:16:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:25 [info] currentZPosition:0.0140
2025-04-24 14:16:26 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:26 [debug] Diagnostics for board 50:
2025-04-24 14:16:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:31 ago, cause: software
2025-04-24 14:16:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:26 [debug] Moves scheduled 27218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3847317720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 14:16:26 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17025, writes 0 timeouts 0
2025-04-24 14:16:26 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35696/37122
2025-04-24 14:16:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:26 [info] currentZPosition:0.0139
2025-04-24 14:16:28 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:28 [debug] Diagnostics for board 50:
2025-04-24 14:16:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:33 ago, cause: software
2025-04-24 14:16:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:28 [debug] Moves scheduled 27222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3846139941 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:16:28 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19762, writes 0 timeouts 0
2025-04-24 14:16:28 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36204/37165
2025-04-24 14:16:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:28 [info] currentZPosition:0.0135
2025-04-24 14:16:29 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:29 [debug] Diagnostics for board 50:
2025-04-24 14:16:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:34 ago, cause: software
2025-04-24 14:16:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:29 [debug] Moves scheduled 27226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3845128741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:16:29 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16950, writes 0 timeouts 0
2025-04-24 14:16:29 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35911/37169
2025-04-24 14:16:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:29 [info] currentZPosition:0.0138
2025-04-24 14:16:31 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:31 [debug] Diagnostics for board 50:
2025-04-24 14:16:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:35 ago, cause: software
2025-04-24 14:16:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:31 [debug] Moves scheduled 27230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3843983718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:16:31 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19190, writes 0 timeouts 0
2025-04-24 14:16:31 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36082/37114
2025-04-24 14:16:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:31 [info] currentZPosition:0.0152
2025-04-24 14:16:31 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:32 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:32 [debug] Diagnostics for board 50:
2025-04-24 14:16:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:37 ago, cause: software
2025-04-24 14:16:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:32 [debug] Moves scheduled 27236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3842714881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:16:32 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21306, writes 0 timeouts 0
2025-04-24 14:16:32 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36120/37112
2025-04-24 14:16:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:32 [info] currentZPosition:0.0141
2025-04-24 14:16:34 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:34 [debug] Diagnostics for board 50:
2025-04-24 14:16:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:39 ago, cause: software
2025-04-24 14:16:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:34 [debug] Moves scheduled 27240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3841526327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:34 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19899, writes 0 timeouts 0
2025-04-24 14:16:34 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36006/37111
2025-04-24 14:16:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:34 [info] currentZPosition:0.0134
2025-04-24 14:16:35 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:35 [debug] Diagnostics for board 50:
2025-04-24 14:16:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:18:40 ago, cause: software
2025-04-24 14:16:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:35 [debug] Moves scheduled 27244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3840546559 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:16:35 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16440, writes 0 timeouts 0
2025-04-24 14:16:35 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36226/37172
2025-04-24 14:16:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:35 [info] currentZPosition:0.0152
2025-04-24 14:16:36 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:37 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:37 [debug] Diagnostics for board 50:
2025-04-24 14:16:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:18:42 ago, cause: software
2025-04-24 14:16:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:37 [debug] Moves scheduled 27250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3839124501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:37 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23860, writes 0 timeouts 0
2025-04-24 14:16:37 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35862/37141
2025-04-24 14:16:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:37 [info] currentZPosition:0.0142
2025-04-24 14:16:38 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:38 [debug] Diagnostics for board 50:
2025-04-24 14:16:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:43 ago, cause: software
2025-04-24 14:16:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:38 [debug] Moves scheduled 27254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3838130242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:16:38 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16632, writes 0 timeouts 0
2025-04-24 14:16:38 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 35623/37126
2025-04-24 14:16:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8699, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:38 [info] currentZPosition:0.0153
2025-04-24 14:16:40 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:40 [debug] Diagnostics for board 50:
2025-04-24 14:16:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:18:45 ago, cause: software
2025-04-24 14:16:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:40 [debug] Moves scheduled 27258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3836927963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:16:40 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20159, writes 0 timeouts 0
2025-04-24 14:16:40 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35785/37108
2025-04-24 14:16:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:40 [info] currentZPosition:0.0138
2025-04-24 14:16:40 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:42 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:42 [debug] Diagnostics for board 50:
2025-04-24 14:16:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:47 ago, cause: software
2025-04-24 14:16:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:42 [debug] Moves scheduled 27264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3835689928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:16:42 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20785, writes 0 timeouts 0
2025-04-24 14:16:42 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35831/37119
2025-04-24 14:16:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:42 [info] currentZPosition:0.0146
2025-04-24 14:16:43 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:43 [debug] Diagnostics for board 50:
2025-04-24 14:16:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:48 ago, cause: software
2025-04-24 14:16:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:43 [debug] Moves scheduled 27268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3834524434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:43 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19508, writes 0 timeouts 0
2025-04-24 14:16:43 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35671/37100
2025-04-24 14:16:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:43 [info] currentZPosition:0.0148
2025-04-24 14:16:45 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:45 [debug] Diagnostics for board 50:
2025-04-24 14:16:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:49 ago, cause: software
2025-04-24 14:16:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:45 [debug] Moves scheduled 27272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 83, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3833500957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:16:45 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17175, writes 0 timeouts 0
2025-04-24 14:16:45 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35977/37162
2025-04-24 14:16:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8751, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:45 [info] currentZPosition:0.0142
2025-04-24 14:16:46 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:46 [debug] Diagnostics for board 50:
2025-04-24 14:16:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:51 ago, cause: software
2025-04-24 14:16:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:46 [debug] Moves scheduled 27276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3832329629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:16:46 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19658, writes 0 timeouts 0
2025-04-24 14:16:46 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36340/37157
2025-04-24 14:16:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:46 [info] currentZPosition:0.0141
2025-04-24 14:16:47 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:47 [debug] Diagnostics for board 50:
2025-04-24 14:16:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:52 ago, cause: software
2025-04-24 14:16:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:47 [debug] Moves scheduled 27280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3831297590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:16:47 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17259, writes 0 timeouts 0
2025-04-24 14:16:47 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36232/37167
2025-04-24 14:16:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:48 [info] currentZPosition:0.0134
2025-04-24 14:16:49 [debug] Stopped at height 0.013 mm
2025-04-24 14:16:49 [debug] Diagnostics for board 50:
2025-04-24 14:16:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:54 ago, cause: software
2025-04-24 14:16:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:49 [debug] Moves scheduled 27284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3830125871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:16:49 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19662, writes 0 timeouts 0
2025-04-24 14:16:49 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36244/37132
2025-04-24 14:16:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:49 [info] currentZPosition:0.0133
2025-04-24 14:16:50 [debug] Stopped at height 0.016 mm
2025-04-24 14:16:50 [debug] Diagnostics for board 50:
2025-04-24 14:16:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:55 ago, cause: software
2025-04-24 14:16:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:50 [debug] Moves scheduled 27288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3829156590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:16:50 [debug] Driver 0: pos -3446, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16284, writes 0 timeouts 0
2025-04-24 14:16:50 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35632/37100
2025-04-24 14:16:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8696, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:50 [info] currentZPosition:0.0157
2025-04-24 14:16:51 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:52 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:52 [debug] Diagnostics for board 50:
2025-04-24 14:16:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:18:57 ago, cause: software
2025-04-24 14:16:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:52 [debug] Moves scheduled 27294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15306
Sync err accum 69, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3827743128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:52 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23664, writes 0 timeouts 0
2025-04-24 14:16:52 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36052/37159
2025-04-24 14:16:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:52 [info] currentZPosition:0.0153
2025-04-24 14:16:54 [debug] Stopped at height 0.014 mm
2025-04-24 14:16:54 [debug] Diagnostics for board 50:
2025-04-24 14:16:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:18:58 ago, cause: software
2025-04-24 14:16:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:54 [debug] Moves scheduled 27298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3826712695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:16:54 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17276, writes 0 timeouts 0
2025-04-24 14:16:54 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35760/37121
2025-04-24 14:16:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:54 [info] currentZPosition:0.0144
2025-04-24 14:16:55 [debug] Stopped at height 0.016 mm
2025-04-24 14:16:55 [debug] Diagnostics for board 50:
2025-04-24 14:16:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:00 ago, cause: software
2025-04-24 14:16:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:55 [debug] Moves scheduled 27302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3825566427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:55 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19248, writes 0 timeouts 0
2025-04-24 14:16:55 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36038/37109
2025-04-24 14:16:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:55 [info] currentZPosition:0.0156
2025-04-24 14:16:56 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:56 [debug] Diagnostics for board 50:
2025-04-24 14:16:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:01 ago, cause: software
2025-04-24 14:16:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:56 [debug] Moves scheduled 27306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3824544665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:16:56 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17094, writes 0 timeouts 0
2025-04-24 14:16:56 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36000/37128
2025-04-24 14:16:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:57 [info] currentZPosition:0.0153
2025-04-24 14:16:58 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:58 [debug] Diagnostics for board 50:
2025-04-24 14:16:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:03 ago, cause: software
2025-04-24 14:16:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:58 [debug] Moves scheduled 27310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3823368839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:16:58 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19712, writes 0 timeouts 0
2025-04-24 14:16:58 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 35899/37138
2025-04-24 14:16:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:16:58 [info] currentZPosition:0.0150
2025-04-24 14:16:59 [debug] Stopped at height 0.015 mm
2025-04-24 14:16:59 [debug] Diagnostics for board 50:
2025-04-24 14:16:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:16:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:04 ago, cause: software
2025-04-24 14:16:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:16:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:16:59 [debug] Moves scheduled 27314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3822344855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:16:59 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17176, writes 0 timeouts 0
2025-04-24 14:16:59 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36118/37126
2025-04-24 14:16:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:00 [info] currentZPosition:0.0146
2025-04-24 14:17:01 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:01 [debug] Diagnostics for board 50:
2025-04-24 14:17:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:06 ago, cause: software
2025-04-24 14:17:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:01 [debug] Moves scheduled 27318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3821169789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:17:01 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19701, writes 0 timeouts 0
2025-04-24 14:17:01 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35778/37142
2025-04-24 14:17:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:01 [info] currentZPosition:0.0145
2025-04-24 14:17:02 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:02 [debug] Diagnostics for board 50:
2025-04-24 14:17:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:07 ago, cause: software
2025-04-24 14:17:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:02 [debug] Moves scheduled 27322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3820126448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:17:02 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17472, writes 0 timeouts 0
2025-04-24 14:17:02 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35695/37119
2025-04-24 14:17:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:02 [info] currentZPosition:0.0131
2025-04-24 14:17:03 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:04 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:04 [debug] Diagnostics for board 50:
2025-04-24 14:17:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:09 ago, cause: software
2025-04-24 14:17:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:04 [debug] Moves scheduled 27328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3818746237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:17:04 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23172, writes 0 timeouts 0
2025-04-24 14:17:04 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35693/37129
2025-04-24 14:17:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:04 [info] currentZPosition:0.0147
2025-04-24 14:17:05 [debug] Stopped at height 0.012 mm
2025-04-24 14:17:06 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:06 [debug] Diagnostics for board 50:
2025-04-24 14:17:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:11 ago, cause: software
2025-04-24 14:17:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:06 [debug] Moves scheduled 27334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3817499657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:17:06 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20891, writes 0 timeouts 0
2025-04-24 14:17:06 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36019/37128
2025-04-24 14:17:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:06 [info] currentZPosition:0.0149
2025-04-24 14:17:06 [debug] Stopped at height 0.014 mm
2025-04-24 14:17:08 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:08 [debug] Diagnostics for board 50:
2025-04-24 14:17:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:13 ago, cause: software
2025-04-24 14:17:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:08 [debug] Moves scheduled 27340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3816081513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:17:08 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23785, writes 0 timeouts 0
2025-04-24 14:17:08 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35609/37146
2025-04-24 14:17:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:08 [info] currentZPosition:0.0147
2025-04-24 14:17:09 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:09 [debug] Diagnostics for board 50:
2025-04-24 14:17:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:19:14 ago, cause: software
2025-04-24 14:17:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:09 [debug] Moves scheduled 27344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3815075006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:17:09 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16867, writes 0 timeouts 0
2025-04-24 14:17:09 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 325, adv 36207/37150
2025-04-24 14:17:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:09 [info] currentZPosition:0.0153
2025-04-24 14:17:11 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:11 [debug] Diagnostics for board 50:
2025-04-24 14:17:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:16 ago, cause: software
2025-04-24 14:17:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:11 [debug] Moves scheduled 27348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3813908180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:17:11 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19629, writes 0 timeouts 0
2025-04-24 14:17:11 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36248/37110
2025-04-24 14:17:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8732, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:11 [info] currentZPosition:0.0153
2025-04-24 14:17:12 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:12 [debug] Diagnostics for board 50:
2025-04-24 14:17:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:17 ago, cause: software
2025-04-24 14:17:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:12 [debug] Moves scheduled 27352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3812876013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:17:12 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17225, writes 0 timeouts 0
2025-04-24 14:17:12 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36280/37167
2025-04-24 14:17:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:12 [info] currentZPosition:0.0148
2025-04-24 14:17:14 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:14 [debug] Diagnostics for board 50:
2025-04-24 14:17:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:18 ago, cause: software
2025-04-24 14:17:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:14 [debug] Moves scheduled 27356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 76, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3811724201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:17:14 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19324, writes 0 timeouts 0
2025-04-24 14:17:14 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36216/37126
2025-04-24 14:17:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8720, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:14 [info] currentZPosition:0.0156
2025-04-24 14:17:15 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:15 [debug] Diagnostics for board 50:
2025-04-24 14:17:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:20 ago, cause: software
2025-04-24 14:17:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:15 [debug] Moves scheduled 27360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 69, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3810709032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:17:15 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17007, writes 0 timeouts 0
2025-04-24 14:17:15 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 35770/37163
2025-04-24 14:17:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:15 [info] currentZPosition:0.0158
2025-04-24 14:17:17 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:17 [debug] Diagnostics for board 50:
2025-04-24 14:17:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:19:21 ago, cause: software
2025-04-24 14:17:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:17 [debug] Moves scheduled 27364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3809489453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:17:17 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20458, writes 0 timeouts 0
2025-04-24 14:17:17 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36115/37113
2025-04-24 14:17:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:17 [info] currentZPosition:0.0132
2025-04-24 14:17:17 [debug] Stopped at height 0.011 mm
2025-04-24 14:17:17 [debug] Stopped at height 0.010 mm
2025-04-24 14:17:19 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:19 [debug] Diagnostics for board 50:
2025-04-24 14:17:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:23 ago, cause: software
2025-04-24 14:17:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:19 [debug] Moves scheduled 27372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3807980480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:17:19 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25289, writes 0 timeouts 0
2025-04-24 14:17:19 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35929/37123
2025-04-24 14:17:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:19 [info] currentZPosition:0.0133
2025-04-24 14:17:19 [debug] Stopped at height 0.011 mm
2025-04-24 14:17:20 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:20 [debug] Diagnostics for board 50:
2025-04-24 14:17:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:25 ago, cause: software
2025-04-24 14:17:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:20 [debug] Moves scheduled 27378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3806568633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:17:20 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23679, writes 0 timeouts 0
2025-04-24 14:17:20 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36032/37169
2025-04-24 14:17:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:21 [info] currentZPosition:0.0127
2025-04-24 14:17:21 [debug] Stopped at height 0.011 mm
2025-04-24 14:17:22 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:22 [debug] Diagnostics for board 50:
2025-04-24 14:17:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:27 ago, cause: software
2025-04-24 14:17:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:22 [debug] Moves scheduled 27384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3805353137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:17:22 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20390, writes 0 timeouts 0
2025-04-24 14:17:22 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36073/37153
2025-04-24 14:17:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:22 [info] currentZPosition:0.0150
2025-04-24 14:17:23 [debug] Stopped at height 0.014 mm
2025-04-24 14:17:24 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:24 [debug] Diagnostics for board 50:
2025-04-24 14:17:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:29 ago, cause: software
2025-04-24 14:17:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:24 [debug] Moves scheduled 27390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3803964734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:17:24 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23298, writes 0 timeouts 0
2025-04-24 14:17:24 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35895/37094
2025-04-24 14:17:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8712, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:24 [info] currentZPosition:0.0164
2025-04-24 14:17:24 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:26 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:26 [debug] Diagnostics for board 50:
2025-04-24 14:17:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:31 ago, cause: software
2025-04-24 14:17:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:26 [debug] Moves scheduled 27396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3802698299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:17:26 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21233, writes 0 timeouts 0
2025-04-24 14:17:26 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36210/37130
2025-04-24 14:17:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:26 [info] currentZPosition:0.0156
2025-04-24 14:17:27 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:27 [debug] Diagnostics for board 50:
2025-04-24 14:17:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:19:32 ago, cause: software
2025-04-24 14:17:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:27 [debug] Moves scheduled 27400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3801532273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:17:27 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19544, writes 0 timeouts 0
2025-04-24 14:17:27 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35779/37126
2025-04-24 14:17:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:27 [info] currentZPosition:0.0158
2025-04-24 14:17:29 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:29 [debug] Diagnostics for board 50:
2025-04-24 14:17:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:33 ago, cause: software
2025-04-24 14:17:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:29 [debug] Moves scheduled 27404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=10416, max=15000
Sync err accum 71, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3800510456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:17:29 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 0 timeouts 0
2025-04-24 14:17:29 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36368/37128
2025-04-24 14:17:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:29 [info] currentZPosition:0.0156
2025-04-24 14:17:30 [debug] Stopped at height 0.014 mm
2025-04-24 14:17:30 [debug] Diagnostics for board 50:
2025-04-24 14:17:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:35 ago, cause: software
2025-04-24 14:17:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:30 [debug] Moves scheduled 27408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3799309327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:17:30 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20169, writes 0 timeouts 0
2025-04-24 14:17:30 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35707/37118
2025-04-24 14:17:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8848, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:30 [info] currentZPosition:0.0139
2025-04-24 14:17:31 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:32 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:32 [debug] Diagnostics for board 50:
2025-04-24 14:17:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:37 ago, cause: software
2025-04-24 14:17:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:32 [debug] Moves scheduled 27414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 85, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3798085888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:17:32 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20478, writes 0 timeouts 0
2025-04-24 14:17:32 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35709/37119
2025-04-24 14:17:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4592, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:32 [info] currentZPosition:0.0159
2025-04-24 14:17:32 [debug] Stopped at height 0.014 mm
2025-04-24 14:17:34 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:34 [debug] Diagnostics for board 50:
2025-04-24 14:17:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:39 ago, cause: software
2025-04-24 14:17:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:34 [debug] Moves scheduled 27420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3796680118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 14:17:34 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23578, writes 0 timeouts 0
2025-04-24 14:17:34 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36302/37124
2025-04-24 14:17:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:34 [info] currentZPosition:0.0156
2025-04-24 14:17:34 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:34 [debug] Stopped at height 0.012 mm
2025-04-24 14:17:36 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:36 [debug] Diagnostics for board 50:
2025-04-24 14:17:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:41 ago, cause: software
2025-04-24 14:17:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:36 [debug] Moves scheduled 27428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3795161608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:17:36 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25499, writes 0 timeouts 0
2025-04-24 14:17:36 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35888/37142
2025-04-24 14:17:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:36 [info] currentZPosition:0.0149
2025-04-24 14:17:36 [debug] Stopped at height 0.014 mm
2025-04-24 14:17:38 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:38 [debug] Diagnostics for board 50:
2025-04-24 14:17:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:42 ago, cause: software
2025-04-24 14:17:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:38 [debug] Moves scheduled 27434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3793755435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:17:38 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23560, writes 0 timeouts 0
2025-04-24 14:17:38 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36221/37169
2025-04-24 14:17:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:38 [info] currentZPosition:0.0151
2025-04-24 14:17:39 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:39 [debug] Diagnostics for board 50:
2025-04-24 14:17:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:44 ago, cause: software
2025-04-24 14:17:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:39 [debug] Moves scheduled 27438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3792744111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:17:39 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16967, writes 0 timeouts 0
2025-04-24 14:17:39 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36091/37100
2025-04-24 14:17:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:39 [info] currentZPosition:0.0156
2025-04-24 14:17:40 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:40 [debug] Diagnostics for board 50:
2025-04-24 14:17:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:45 ago, cause: software
2025-04-24 14:17:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:40 [debug] Moves scheduled 27442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3791575628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:17:40 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19610, writes 0 timeouts 0
2025-04-24 14:17:40 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36126/37145
2025-04-24 14:17:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:41 [info] currentZPosition:0.0154
2025-04-24 14:17:42 [debug] Stopped at height 0.014 mm
2025-04-24 14:17:42 [debug] Diagnostics for board 50:
2025-04-24 14:17:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:47 ago, cause: software
2025-04-24 14:17:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:42 [debug] Moves scheduled 27446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3790533975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:17:42 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17433, writes 0 timeouts 0
2025-04-24 14:17:42 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36180/37152
2025-04-24 14:17:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:42 [info] currentZPosition:0.0142
2025-04-24 14:17:43 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:43 [debug] Diagnostics for board 50:
2025-04-24 14:17:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:19:48 ago, cause: software
2025-04-24 14:17:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:43 [debug] Moves scheduled 27450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3789387608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:17:43 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19251, writes 0 timeouts 0
2025-04-24 14:17:43 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36102/37162
2025-04-24 14:17:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:43 [info] currentZPosition:0.0154
2025-04-24 14:17:45 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:45 [debug] Diagnostics for board 50:
2025-04-24 14:17:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:50 ago, cause: software
2025-04-24 14:17:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:45 [debug] Moves scheduled 27454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3788335917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:17:45 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17636, writes 0 timeouts 0
2025-04-24 14:17:45 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35643/37155
2025-04-24 14:17:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:45 [info] currentZPosition:0.0134
2025-04-24 14:17:45 [debug] Stopped at height 0.011 mm
2025-04-24 14:17:46 [debug] Stopped at height 0.010 mm
2025-04-24 14:17:47 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:47 [debug] Diagnostics for board 50:
2025-04-24 14:17:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:52 ago, cause: software
2025-04-24 14:17:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:47 [debug] Moves scheduled 27462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3786699177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 
2025-04-24 14:17:47 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27450, writes 0 timeouts 0
2025-04-24 14:17:47 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36014/37157
2025-04-24 14:17:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:47 [info] currentZPosition:0.0151
2025-04-24 14:17:47 [debug] Stopped at height 0.013 mm
2025-04-24 14:17:48 [debug] Stopped at height 0.012 mm
2025-04-24 14:17:49 [debug] Stopped at height 0.017 mm
2025-04-24 14:17:49 [debug] Diagnostics for board 50:
2025-04-24 14:17:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:54 ago, cause: software
2025-04-24 14:17:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:49 [debug] Moves scheduled 27470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3785210367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:17:49 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24949, writes 0 timeouts 0
2025-04-24 14:17:49 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35739/37114
2025-04-24 14:17:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:49 [info] currentZPosition:0.0165
2025-04-24 14:17:49 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:51 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:51 [debug] Diagnostics for board 50:
2025-04-24 14:17:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:19:56 ago, cause: software
2025-04-24 14:17:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:51 [debug] Moves scheduled 27476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3783797980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:17:51 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23680, writes 0 timeouts 0
2025-04-24 14:17:51 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35828/37142
2025-04-24 14:17:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:51 [info] currentZPosition:0.0162
2025-04-24 14:17:52 [debug] Stopped at height 0.017 mm
2025-04-24 14:17:52 [debug] Diagnostics for board 50:
2025-04-24 14:17:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:57 ago, cause: software
2025-04-24 14:17:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:52 [debug] Moves scheduled 27480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3782790879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max 3
2025-04-24 14:17:52 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16903, writes 0 timeouts 0
2025-04-24 14:17:52 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35857/37164
2025-04-24 14:17:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:52 [info] currentZPosition:0.0168
2025-04-24 14:17:54 [debug] Stopped at height 0.015 mm
2025-04-24 14:17:54 [debug] Diagnostics for board 50:
2025-04-24 14:17:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:19:59 ago, cause: software
2025-04-24 14:17:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:54 [debug] Moves scheduled 27484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3781591306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:17:54 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20089, writes 0 timeouts 0
2025-04-24 14:17:54 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35731/37116
2025-04-24 14:17:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:54 [info] currentZPosition:0.0153
2025-04-24 14:17:54 [debug] Stopped at height 0.014 mm
2025-04-24 14:17:55 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:55 [debug] Diagnostics for board 50:
2025-04-24 14:17:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:00 ago, cause: software
2025-04-24 14:17:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:55 [debug] Moves scheduled 27490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3780345832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:17:55 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20884, writes 0 timeouts 0
2025-04-24 14:17:55 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35990/37123
2025-04-24 14:17:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:56 [info] currentZPosition:0.0161
2025-04-24 14:17:57 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:57 [debug] Diagnostics for board 50:
2025-04-24 14:17:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:02 ago, cause: software
2025-04-24 14:17:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:57 [debug] Moves scheduled 27494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3779179735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:17:57 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19559, writes 0 timeouts 0
2025-04-24 14:17:57 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35629/37130
2025-04-24 14:17:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:57 [info] currentZPosition:0.0161
2025-04-24 14:17:58 [debug] Stopped at height 0.016 mm
2025-04-24 14:17:58 [debug] Diagnostics for board 50:
2025-04-24 14:17:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:17:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:03 ago, cause: software
2025-04-24 14:17:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:17:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:17:58 [debug] Moves scheduled 27498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3778152025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:17:58 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17231, writes 0 timeouts 0
2025-04-24 14:17:58 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36229/37105
2025-04-24 14:17:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:17:58 [info] currentZPosition:0.0157
2025-04-24 14:18:00 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:00 [debug] Diagnostics for board 50:
2025-04-24 14:18:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:05 ago, cause: software
2025-04-24 14:18:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:00 [debug] Moves scheduled 27502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3777001204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:18:00 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19297, writes 0 timeouts 0
2025-04-24 14:18:00 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36265/37084
2025-04-24 14:18:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:00 [info] currentZPosition:0.0164
2025-04-24 14:18:01 [debug] Stopped at height 0.015 mm
2025-04-24 14:18:01 [debug] Diagnostics for board 50:
2025-04-24 14:18:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:06 ago, cause: software
2025-04-24 14:18:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:01 [debug] Moves scheduled 27506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3775947771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:18:01 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17652, writes 0 timeouts 0
2025-04-24 14:18:01 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35699/37114
2025-04-24 14:18:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:01 [info] currentZPosition:0.0145
2025-04-24 14:18:02 [debug] Stopped at height 0.013 mm
2025-04-24 14:18:03 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:03 [debug] Diagnostics for board 50:
2025-04-24 14:18:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:08 ago, cause: software
2025-04-24 14:18:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:03 [debug] Moves scheduled 27512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3774589102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:18:03 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22786, writes 0 timeouts 0
2025-04-24 14:18:03 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36091/37157
2025-04-24 14:18:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:03 [info] currentZPosition:0.0173
2025-04-24 14:18:04 [debug] Stopped at height 0.015 mm
2025-04-24 14:18:05 [debug] Stopped at height 0.015 mm
2025-04-24 14:18:05 [debug] Diagnostics for board 50:
2025-04-24 14:18:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:10 ago, cause: software
2025-04-24 14:18:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:05 [debug] Moves scheduled 27518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3773290147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:18:05 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21773, writes 0 timeouts 0
2025-04-24 14:18:05 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35801/37117
2025-04-24 14:18:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:05 [info] currentZPosition:0.0145
2025-04-24 14:18:06 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:06 [debug] Diagnostics for board 50:
2025-04-24 14:18:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:11 ago, cause: software
2025-04-24 14:18:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:06 [debug] Moves scheduled 27522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3772144341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:06 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19234, writes 0 timeouts 0
2025-04-24 14:18:06 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35943/37092
2025-04-24 14:18:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:06 [info] currentZPosition:0.0155
2025-04-24 14:18:08 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:08 [debug] Diagnostics for board 50:
2025-04-24 14:18:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:13 ago, cause: software
2025-04-24 14:18:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:08 [debug] Moves scheduled 27526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3771163463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:08 [debug] Driver 0: pos -3447, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16442, writes 0 timeouts 0
2025-04-24 14:18:08 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35940/37106
2025-04-24 14:18:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8726, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:08 [info] currentZPosition:0.0174
2025-04-24 14:18:08 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:10 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:10 [debug] Diagnostics for board 50:
2025-04-24 14:18:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:14 ago, cause: software
2025-04-24 14:18:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:10 [debug] Moves scheduled 27532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3769742189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.1C, max
2025-04-24 14:18:10 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23827, writes 0 timeouts 0
2025-04-24 14:18:10 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35793/37132
2025-04-24 14:18:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:10 [info] currentZPosition:0.0162
2025-04-24 14:18:11 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:11 [debug] Diagnostics for board 50:
2025-04-24 14:18:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:16 ago, cause: software
2025-04-24 14:18:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:11 [debug] Moves scheduled 27536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3768741485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:18:11 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16765, writes 0 timeouts 0
2025-04-24 14:18:11 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36215/37132
2025-04-24 14:18:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8741, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:11 [info] currentZPosition:0.0168
2025-04-24 14:18:12 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:12 [debug] Diagnostics for board 50:
2025-04-24 14:18:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:20:17 ago, cause: software
2025-04-24 14:18:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:12 [debug] Moves scheduled 27540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3767564077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:12 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19750, writes 0 timeouts 0
2025-04-24 14:18:12 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35710/37125
2025-04-24 14:18:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:13 [info] currentZPosition:0.0163
2025-04-24 14:18:14 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:14 [debug] Diagnostics for board 50:
2025-04-24 14:18:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:19 ago, cause: software
2025-04-24 14:18:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:14 [debug] Moves scheduled 27544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3766538870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:18:14 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17183, writes 0 timeouts 0
2025-04-24 14:18:14 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35734/37109
2025-04-24 14:18:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:14 [info] currentZPosition:0.0161
2025-04-24 14:18:15 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:15 [debug] Diagnostics for board 50:
2025-04-24 14:18:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:20 ago, cause: software
2025-04-24 14:18:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:15 [debug] Moves scheduled 27548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3765373851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:18:15 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19525, writes 0 timeouts 0
2025-04-24 14:18:15 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36274/37083
2025-04-24 14:18:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:15 [info] currentZPosition:0.0161
2025-04-24 14:18:17 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:17 [debug] Diagnostics for board 50:
2025-04-24 14:18:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:22 ago, cause: software
2025-04-24 14:18:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:17 [debug] Moves scheduled 27552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3764358284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:18:17 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17040, writes 0 timeouts 0
2025-04-24 14:18:17 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 35970/37112
2025-04-24 14:18:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:17 [info] currentZPosition:0.0163
2025-04-24 14:18:18 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:18 [debug] Diagnostics for board 50:
2025-04-24 14:18:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:23 ago, cause: software
2025-04-24 14:18:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:18 [debug] Moves scheduled 27556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3763193533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:18:18 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19534, writes 0 timeouts 0
2025-04-24 14:18:18 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36119/37136
2025-04-24 14:18:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:18 [info] currentZPosition:0.0164
2025-04-24 14:18:20 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:20 [debug] Diagnostics for board 50:
2025-04-24 14:18:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:25 ago, cause: software
2025-04-24 14:18:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:20 [debug] Moves scheduled 27560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3762180886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:18:20 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17023, writes 0 timeouts 0
2025-04-24 14:18:20 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36146/37144
2025-04-24 14:18:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:20 [info] currentZPosition:0.0165
2025-04-24 14:18:21 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:21 [debug] Diagnostics for board 50:
2025-04-24 14:18:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:26 ago, cause: software
2025-04-24 14:18:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:21 [debug] Moves scheduled 27564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 89, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3761006053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:21 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19665, writes 0 timeouts 0
2025-04-24 14:18:21 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35986/37105
2025-04-24 14:18:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:21 [info] currentZPosition:0.0161
2025-04-24 14:18:23 [debug] Stopped at height 0.018 mm
2025-04-24 14:18:23 [debug] Diagnostics for board 50:
2025-04-24 14:18:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:27 ago, cause: software
2025-04-24 14:18:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:23 [debug] Moves scheduled 27568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 83, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3760018239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:18:23 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16551, writes 0 timeouts 0
2025-04-24 14:18:23 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36328/37147
2025-04-24 14:18:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8717, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:23 [info] currentZPosition:0.0177
2025-04-24 14:18:23 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:24 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:24 [debug] Diagnostics for board 50:
2025-04-24 14:18:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:29 ago, cause: software
2025-04-24 14:18:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:24 [debug] Moves scheduled 27574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3758578363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:18:24 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24171, writes 0 timeouts 0
2025-04-24 14:18:24 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35905/37123
2025-04-24 14:18:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:25 [info] currentZPosition:0.0157
2025-04-24 14:18:26 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:26 [debug] Diagnostics for board 50:
2025-04-24 14:18:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:31 ago, cause: software
2025-04-24 14:18:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:26 [debug] Moves scheduled 27578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3757563272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:26 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17010, writes 0 timeouts 0
2025-04-24 14:18:26 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35806/37150
2025-04-24 14:18:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:26 [info] currentZPosition:0.0159
2025-04-24 14:18:27 [debug] Stopped at height 0.018 mm
2025-04-24 14:18:27 [debug] Diagnostics for board 50:
2025-04-24 14:18:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:32 ago, cause: software
2025-04-24 14:18:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:27 [debug] Moves scheduled 27582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3756435021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:18:27 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18910, writes 0 timeouts 0
2025-04-24 14:18:27 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35761/37145
2025-04-24 14:18:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 812
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8698, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:27 [info] currentZPosition:0.0179
2025-04-24 14:18:28 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:29 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:29 [debug] Diagnostics for board 50:
2025-04-24 14:18:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:34 ago, cause: software
2025-04-24 14:18:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:29 [debug] Moves scheduled 27588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3755156337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:18:29 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21467, writes 0 timeouts 0
2025-04-24 14:18:29 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36057/37148
2025-04-24 14:18:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:29 [info] currentZPosition:0.0164
2025-04-24 14:18:31 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:31 [debug] Diagnostics for board 50:
2025-04-24 14:18:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:35 ago, cause: software
2025-04-24 14:18:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:31 [debug] Moves scheduled 27592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3753988924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:31 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19557, writes 0 timeouts 0
2025-04-24 14:18:31 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35580/37119
2025-04-24 14:18:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:31 [info] currentZPosition:0.0162
2025-04-24 14:18:32 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:32 [debug] Diagnostics for board 50:
2025-04-24 14:18:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:37 ago, cause: software
2025-04-24 14:18:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:32 [debug] Moves scheduled 27596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 107, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3752988017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:32 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16782, writes 0 timeouts 0
2025-04-24 14:18:32 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36279/37108
2025-04-24 14:18:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8728, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:32 [info] currentZPosition:0.0171
2025-04-24 14:18:33 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:33 [debug] Diagnostics for board 50:
2025-04-24 14:18:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:38 ago, cause: software
2025-04-24 14:18:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:33 [debug] Moves scheduled 27600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 106, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3751798471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:18:33 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19970, writes 0 timeouts 0
2025-04-24 14:18:33 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36298/37117
2025-04-24 14:18:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:34 [info] currentZPosition:0.0158
2025-04-24 14:18:34 [debug] Stopped at height 0.015 mm
2025-04-24 14:18:35 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:35 [debug] Diagnostics for board 50:
2025-04-24 14:18:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:40 ago, cause: software
2025-04-24 14:18:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:35 [debug] Moves scheduled 27606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3750569993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:18:35 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20590, writes 0 timeouts 0
2025-04-24 14:18:35 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35700/37150
2025-04-24 14:18:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:35 [info] currentZPosition:0.0174
2025-04-24 14:18:36 [debug] Stopped at height 0.015 mm
2025-04-24 14:18:37 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:37 [debug] Diagnostics for board 50:
2025-04-24 14:18:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:42 ago, cause: software
2025-04-24 14:18:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:37 [debug] Moves scheduled 27612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8620, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3749143672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:18:37 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23897, writes 0 timeouts 0
2025-04-24 14:18:37 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36111/37117
2025-04-24 14:18:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:37 [info] currentZPosition:0.0161
2025-04-24 14:18:38 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:38 [debug] Diagnostics for board 50:
2025-04-24 14:18:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:43 ago, cause: software
2025-04-24 14:18:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:38 [debug] Moves scheduled 27616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3748128809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:18:38 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17044, writes 0 timeouts 0
2025-04-24 14:18:38 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35997/37169
2025-04-24 14:18:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:38 [info] currentZPosition:0.0161
2025-04-24 14:18:40 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:40 [debug] Diagnostics for board 50:
2025-04-24 14:18:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:45 ago, cause: software
2025-04-24 14:18:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:40 [debug] Moves scheduled 27620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8620, max=15000
Sync err accum 61, peak jitter -3/-2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3746968295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:18:40 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19448, writes 0 timeouts 0
2025-04-24 14:18:40 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35988/37093
2025-04-24 14:18:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:40 [info] currentZPosition:0.0162
2025-04-24 14:18:41 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:41 [debug] Diagnostics for board 50:
2025-04-24 14:18:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:46 ago, cause: software
2025-04-24 14:18:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:41 [debug] Moves scheduled 27624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3745963765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:41 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16849, writes 0 timeouts 0
2025-04-24 14:18:41 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36144/37119
2025-04-24 14:18:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8759, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:41 [info] currentZPosition:0.0170
2025-04-24 14:18:43 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:43 [debug] Diagnostics for board 50:
2025-04-24 14:18:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:48 ago, cause: software
2025-04-24 14:18:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:43 [debug] Moves scheduled 27628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 80, peak jitter 2/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3744810896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:18:43 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19357, writes 0 timeouts 0
2025-04-24 14:18:43 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35807/37125
2025-04-24 14:18:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8724, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:43 [info] currentZPosition:0.0174
2025-04-24 14:18:44 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:44 [debug] Diagnostics for board 50:
2025-04-24 14:18:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:49 ago, cause: software
2025-04-24 14:18:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:44 [debug] Moves scheduled 27632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3743778496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:18:44 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17279, writes 0 timeouts 0
2025-04-24 14:18:44 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35625/37119
2025-04-24 14:18:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:44 [info] currentZPosition:0.0169
2025-04-24 14:18:46 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:46 [debug] Diagnostics for board 50:
2025-04-24 14:18:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:51 ago, cause: software
2025-04-24 14:18:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:46 [debug] Moves scheduled 27636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3742602333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:46 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19712, writes 0 timeouts 0
2025-04-24 14:18:46 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35677/37106
2025-04-24 14:18:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:46 [info] currentZPosition:0.0163
2025-04-24 14:18:47 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:47 [debug] Diagnostics for board 50:
2025-04-24 14:18:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:52 ago, cause: software
2025-04-24 14:18:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:47 [debug] Moves scheduled 27640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 114, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3741590889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:47 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16965, writes 0 timeouts 0
2025-04-24 14:18:47 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 35828/37125
2025-04-24 14:18:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:47 [info] currentZPosition:0.0168
2025-04-24 14:18:49 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:49 [debug] Diagnostics for board 50:
2025-04-24 14:18:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:54 ago, cause: software
2025-04-24 14:18:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:49 [debug] Moves scheduled 27644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 119, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3740437593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:18:49 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19339, writes 0 timeouts 0
2025-04-24 14:18:49 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36325/37169
2025-04-24 14:18:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:49 [info] currentZPosition:0.0174
2025-04-24 14:18:50 [debug] Stopped at height 0.014 mm
2025-04-24 14:18:50 [debug] Diagnostics for board 50:
2025-04-24 14:18:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:55 ago, cause: software
2025-04-24 14:18:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:50 [debug] Moves scheduled 27648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 120, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3739356583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:18:50 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18109, writes 0 timeouts 0
2025-04-24 14:18:50 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36012/37082
2025-04-24 14:18:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:50 [info] currentZPosition:0.0139
2025-04-24 14:18:51 [debug] Stopped at height 0.013 mm
2025-04-24 14:18:52 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:52 [debug] Diagnostics for board 50:
2025-04-24 14:18:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:20:57 ago, cause: software
2025-04-24 14:18:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:52 [debug] Moves scheduled 27654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 118, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3737987760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:18:52 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22957, writes 0 timeouts 0
2025-04-24 14:18:52 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 425, adv 36194/37106
2025-04-24 14:18:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:52 [info] currentZPosition:0.0159
2025-04-24 14:18:52 [debug] Stopped at height 0.015 mm
2025-04-24 14:18:54 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:54 [debug] Diagnostics for board 50:
2025-04-24 14:18:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:20:58 ago, cause: software
2025-04-24 14:18:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:54 [debug] Moves scheduled 27660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 108, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3736731546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:18:54 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21062, writes 0 timeouts 0
2025-04-24 14:18:54 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36294/37148
2025-04-24 14:18:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:54 [info] currentZPosition:0.0164
2025-04-24 14:18:55 [debug] Stopped at height 0.016 mm
2025-04-24 14:18:55 [debug] Diagnostics for board 50:
2025-04-24 14:18:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:00 ago, cause: software
2025-04-24 14:18:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:55 [debug] Moves scheduled 27664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3735566939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:18:55 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19531, writes 0 timeouts 0
2025-04-24 14:18:55 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36068/37123
2025-04-24 14:18:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:55 [info] currentZPosition:0.0163
2025-04-24 14:18:56 [debug] Stopped at height 0.017 mm
2025-04-24 14:18:56 [debug] Diagnostics for board 50:
2025-04-24 14:18:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:01 ago, cause: software
2025-04-24 14:18:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:56 [debug] Moves scheduled 27668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3734551585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:18:56 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17018, writes 0 timeouts 0
2025-04-24 14:18:56 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 35720/37127
2025-04-24 14:18:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:57 [info] currentZPosition:0.0165
2025-04-24 14:18:58 [debug] Stopped at height 0.015 mm
2025-04-24 14:18:58 [debug] Diagnostics for board 50:
2025-04-24 14:18:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:18:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:03 ago, cause: software
2025-04-24 14:18:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:18:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:18:58 [debug] Moves scheduled 27672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 61, peak jitter -3/-3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3733368235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:18:58 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19844, writes 0 timeouts 0
2025-04-24 14:18:58 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35869/37135
2025-04-24 14:18:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:18:58 [info] currentZPosition:0.0152
2025-04-24 14:18:59 [debug] Stopped at height 0.014 mm
2025-04-24 14:19:00 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:00 [debug] Diagnostics for board 50:
2025-04-24 14:19:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:05 ago, cause: software
2025-04-24 14:19:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:00 [debug] Moves scheduled 27678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -2/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3732116610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:19:00 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20984, writes 0 timeouts 0
2025-04-24 14:19:00 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35902/37155
2025-04-24 14:19:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:00 [info] currentZPosition:0.0157
2025-04-24 14:19:01 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:01 [debug] Diagnostics for board 50:
2025-04-24 14:19:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:06 ago, cause: software
2025-04-24 14:19:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:01 [debug] Moves scheduled 27682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3730968469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:01 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19271, writes 0 timeouts 0
2025-04-24 14:19:01 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35756/37114
2025-04-24 14:19:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:01 [info] currentZPosition:0.0164
2025-04-24 14:19:03 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:03 [debug] Diagnostics for board 50:
2025-04-24 14:19:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:08 ago, cause: software
2025-04-24 14:19:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:03 [debug] Moves scheduled 27686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3729944788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:03 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17173, writes 0 timeouts 0
2025-04-24 14:19:03 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36113/37122
2025-04-24 14:19:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:03 [info] currentZPosition:0.0163
2025-04-24 14:19:04 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:04 [debug] Diagnostics for board 50:
2025-04-24 14:19:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:09 ago, cause: software
2025-04-24 14:19:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:04 [debug] Moves scheduled 27690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 104, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3728780134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:19:04 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19526, writes 0 timeouts 0
2025-04-24 14:19:04 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35639/37088
2025-04-24 14:19:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:04 [info] currentZPosition:0.0161
2025-04-24 14:19:06 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:06 [debug] Diagnostics for board 50:
2025-04-24 14:19:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:21:10 ago, cause: software
2025-04-24 14:19:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:06 [debug] Moves scheduled 27694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3727739463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:19:06 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17454, writes 0 timeouts 0
2025-04-24 14:19:06 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36328/37169
2025-04-24 14:19:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:06 [info] currentZPosition:0.0150
2025-04-24 14:19:07 [debug] Stopped at height 0.014 mm
2025-04-24 14:19:07 [debug] Diagnostics for board 50:
2025-04-24 14:19:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:12 ago, cause: software
2025-04-24 14:19:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:07 [debug] Moves scheduled 27698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3726567395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:19:07 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19655, writes 0 timeouts 0
2025-04-24 14:19:07 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36258/37089
2025-04-24 14:19:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:07 [info] currentZPosition:0.0144
2025-04-24 14:19:08 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:08 [debug] Diagnostics for board 50:
2025-04-24 14:19:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:13 ago, cause: software
2025-04-24 14:19:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:08 [debug] Moves scheduled 27702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3725582280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:19:08 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16523, writes 0 timeouts 0
2025-04-24 14:19:08 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 35788/37105
2025-04-24 14:19:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:09 [info] currentZPosition:0.0164
2025-04-24 14:19:09 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:10 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:10 [debug] Diagnostics for board 50:
2025-04-24 14:19:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:15 ago, cause: software
2025-04-24 14:19:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:10 [debug] Moves scheduled 27708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3724154424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:19:10 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23946, writes 0 timeouts 0
2025-04-24 14:19:10 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36126/37142
2025-04-24 14:19:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:10 [info] currentZPosition:0.0145
2025-04-24 14:19:12 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:12 [debug] Diagnostics for board 50:
2025-04-24 14:19:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:17 ago, cause: software
2025-04-24 14:19:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:12 [debug] Moves scheduled 27712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3723161473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:19:12 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16652, writes 0 timeouts 0
2025-04-24 14:19:12 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35982/37105
2025-04-24 14:19:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:12 [info] currentZPosition:0.0160
2025-04-24 14:19:12 [debug] Stopped at height 0.014 mm
2025-04-24 14:19:14 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:14 [debug] Diagnostics for board 50:
2025-04-24 14:19:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:21:18 ago, cause: software
2025-04-24 14:19:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:14 [debug] Moves scheduled 27718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 72, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3721786883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:19:14 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23059, writes 0 timeouts 0
2025-04-24 14:19:14 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 423, adv 36059/37128
2025-04-24 14:19:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:14 [info] currentZPosition:0.0171
2025-04-24 14:19:14 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:15 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:15 [debug] Diagnostics for board 50:
2025-04-24 14:19:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:21:20 ago, cause: software
2025-04-24 14:19:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:15 [debug] Moves scheduled 27724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 60, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3720499691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:19:15 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21579, writes 0 timeouts 0
2025-04-24 14:19:15 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36209/37129
2025-04-24 14:19:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:15 [info] currentZPosition:0.0156
2025-04-24 14:19:17 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:17 [debug] Diagnostics for board 50:
2025-04-24 14:19:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:21:22 ago, cause: software
2025-04-24 14:19:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:17 [debug] Moves scheduled 27728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3719364456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:17 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19052, writes 0 timeouts 0
2025-04-24 14:19:17 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35927/37134
2025-04-24 14:19:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:17 [info] currentZPosition:0.0169
2025-04-24 14:19:17 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:18 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:18 [debug] Diagnostics for board 50:
2025-04-24 14:19:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:21:23 ago, cause: software
2025-04-24 14:19:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:18 [debug] Moves scheduled 27734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3718078435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:18 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21545, writes 0 timeouts 0
2025-04-24 14:19:18 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35602/37097
2025-04-24 14:19:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:19 [info] currentZPosition:0.0153
2025-04-24 14:19:20 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:20 [debug] Diagnostics for board 50:
2025-04-24 14:19:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:21:25 ago, cause: software
2025-04-24 14:19:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:20 [debug] Moves scheduled 27738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3716942264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:20 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19067, writes 0 timeouts 0
2025-04-24 14:19:20 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35771/37139
2025-04-24 14:19:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:20 [info] currentZPosition:0.0169
2025-04-24 14:19:20 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:22 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:22 [debug] Diagnostics for board 50:
2025-04-24 14:19:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:27 ago, cause: software
2025-04-24 14:19:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:22 [debug] Moves scheduled 27744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 92, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3715655341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:19:22 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21585, writes 0 timeouts 0
2025-04-24 14:19:22 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35841/37104
2025-04-24 14:19:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:22 [info] currentZPosition:0.0152
2025-04-24 14:19:23 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:23 [debug] Diagnostics for board 50:
2025-04-24 14:19:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:21:28 ago, cause: software
2025-04-24 14:19:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:23 [debug] Moves scheduled 27748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 87, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3714527942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:19:23 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18885, writes 0 timeouts 0
2025-04-24 14:19:23 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 35719/37116
2025-04-24 14:19:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:23 [info] currentZPosition:0.0172
2025-04-24 14:19:24 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:25 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:25 [debug] Diagnostics for board 50:
2025-04-24 14:19:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:30 ago, cause: software
2025-04-24 14:19:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:25 [debug] Moves scheduled 27754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3713272235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:19:25 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21062, writes 0 timeouts 0
2025-04-24 14:19:25 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36020/37124
2025-04-24 14:19:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:25 [info] currentZPosition:0.0172
2025-04-24 14:19:25 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:27 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:27 [debug] Diagnostics for board 50:
2025-04-24 14:19:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:32 ago, cause: software
2025-04-24 14:19:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:27 [debug] Moves scheduled 27760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 69, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3711872568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:19:27 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23496, writes 0 timeouts 0
2025-04-24 14:19:27 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36244/37112
2025-04-24 14:19:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:27 [info] currentZPosition:0.0168
2025-04-24 14:19:27 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:28 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:28 [debug] Diagnostics for board 50:
2025-04-24 14:19:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:33 ago, cause: software
2025-04-24 14:19:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:28 [debug] Moves scheduled 27766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3710627373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:19:28 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20860, writes 0 timeouts 0
2025-04-24 14:19:28 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36203/37125
2025-04-24 14:19:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:28 [info] currentZPosition:0.0173
2025-04-24 14:19:29 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:30 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:30 [debug] Diagnostics for board 50:
2025-04-24 14:19:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:35 ago, cause: software
2025-04-24 14:19:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:30 [debug] Moves scheduled 27772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3709228778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:19:30 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23449, writes 0 timeouts 0
2025-04-24 14:19:30 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36131/37113
2025-04-24 14:19:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:30 [info] currentZPosition:0.0168
2025-04-24 14:19:31 [debug] Stopped at height 0.014 mm
2025-04-24 14:19:32 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:32 [debug] Diagnostics for board 50:
2025-04-24 14:19:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:37 ago, cause: software
2025-04-24 14:19:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:32 [debug] Moves scheduled 27778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3707948243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:32 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21518, writes 0 timeouts 0
2025-04-24 14:19:32 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35667/37104
2025-04-24 14:19:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:32 [info] currentZPosition:0.0151
2025-04-24 14:19:33 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:33 [debug] Diagnostics for board 50:
2025-04-24 14:19:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:38 ago, cause: software
2025-04-24 14:19:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:33 [debug] Moves scheduled 27782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3706812990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:19:33 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18978, writes 0 timeouts 0
2025-04-24 14:19:33 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36045/37098
2025-04-24 14:19:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:34 [info] currentZPosition:0.0164
2025-04-24 14:19:34 [debug] Stopped at height 0.014 mm
2025-04-24 14:19:35 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:35 [debug] Diagnostics for board 50:
2025-04-24 14:19:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:40 ago, cause: software
2025-04-24 14:19:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:35 [debug] Moves scheduled 27788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3705556609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:19:35 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21068, writes 0 timeouts 0
2025-04-24 14:19:35 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 438, adv 35823/37126
2025-04-24 14:19:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:35 [info] currentZPosition:0.0160
2025-04-24 14:19:36 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:37 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:37 [debug] Diagnostics for board 50:
2025-04-24 14:19:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:42 ago, cause: software
2025-04-24 14:19:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:37 [debug] Moves scheduled 27794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 3704155026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:19:37 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23504, writes 0 timeouts 0
2025-04-24 14:19:37 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35933/37121
2025-04-24 14:19:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:37 [info] currentZPosition:0.0159
2025-04-24 14:19:37 [debug] Stopped at height 0.014 mm
2025-04-24 14:19:39 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:39 [debug] Diagnostics for board 50:
2025-04-24 14:19:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:44 ago, cause: software
2025-04-24 14:19:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:39 [debug] Moves scheduled 27800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3702885603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:19:39 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21304, writes 0 timeouts 0
2025-04-24 14:19:39 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35979/37123
2025-04-24 14:19:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:39 [info] currentZPosition:0.0151
2025-04-24 14:19:39 [debug] Stopped at height 0.014 mm
2025-04-24 14:19:41 [debug] Stopped at height 0.018 mm
2025-04-24 14:19:41 [debug] Diagnostics for board 50:
2025-04-24 14:19:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:21:45 ago, cause: software
2025-04-24 14:19:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:41 [debug] Moves scheduled 27806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3701534218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:41 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22668, writes 0 timeouts 0
2025-04-24 14:19:41 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35789/37122
2025-04-24 14:19:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:41 [info] currentZPosition:0.0176
2025-04-24 14:19:41 [debug] Stopped at height 0.016 mm
2025-04-24 14:19:42 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:42 [debug] Diagnostics for board 50:
2025-04-24 14:19:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:21:47 ago, cause: software
2025-04-24 14:19:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:42 [debug] Moves scheduled 27812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3700264854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:42 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21279, writes 0 timeouts 0
2025-04-24 14:19:42 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36139/37124
2025-04-24 14:19:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:42 [info] currentZPosition:0.0175
2025-04-24 14:19:44 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:44 [debug] Diagnostics for board 50:
2025-04-24 14:19:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:21:49 ago, cause: software
2025-04-24 14:19:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:44 [debug] Moves scheduled 27816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3699100424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:19:44 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19515, writes 0 timeouts 0
2025-04-24 14:19:44 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35741/37118
2025-04-24 14:19:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:44 [info] currentZPosition:0.0171
2025-04-24 14:19:45 [debug] Stopped at height 0.018 mm
2025-04-24 14:19:45 [debug] Diagnostics for board 50:
2025-04-24 14:19:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:21:50 ago, cause: software
2025-04-24 14:19:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:45 [debug] Moves scheduled 27820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3698088937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:45 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16971, writes 0 timeouts 0
2025-04-24 14:19:45 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35584/37123
2025-04-24 14:19:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:45 [info] currentZPosition:0.0177
2025-04-24 14:19:47 [debug] Stopped at height 0.019 mm
2025-04-24 14:19:47 [debug] Diagnostics for board 50:
2025-04-24 14:19:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:51 ago, cause: software
2025-04-24 14:19:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:47 [debug] Moves scheduled 27824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3696947783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:19:47 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19138, writes 0 timeouts 0
2025-04-24 14:19:47 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36287/37080
2025-04-24 14:19:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:47 [info] currentZPosition:0.0187
2025-04-24 14:19:48 [debug] Stopped at height 0.017 mm
2025-04-24 14:19:48 [debug] Diagnostics for board 50:
2025-04-24 14:19:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:53 ago, cause: software
2025-04-24 14:19:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:48 [debug] Moves scheduled 27828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3695886049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:19:48 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17803, writes 0 timeouts 0
2025-04-24 14:19:48 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35797/37071
2025-04-24 14:19:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:48 [info] currentZPosition:0.0165
2025-04-24 14:19:48 [debug] Stopped at height 0.015 mm
2025-04-24 14:19:50 [debug] Stopped at height 0.019 mm
2025-04-24 14:19:50 [debug] Diagnostics for board 50:
2025-04-24 14:19:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:55 ago, cause: software
2025-04-24 14:19:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:50 [debug] Moves scheduled 27834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3694538458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:19:50 [debug] Driver 0: pos -3451, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22598, writes 0 timeouts 0
2025-04-24 14:19:50 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36239/37145
2025-04-24 14:19:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8708, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:50 [info] currentZPosition:0.0195
2025-04-24 14:19:50 [debug] Stopped at height 0.018 mm
2025-04-24 14:19:52 [debug] Stopped at height 0.019 mm
2025-04-24 14:19:52 [debug] Diagnostics for board 50:
2025-04-24 14:19:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:56 ago, cause: software
2025-04-24 14:19:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:52 [debug] Moves scheduled 27840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3693256165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:19:52 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21492, writes 0 timeouts 0
2025-04-24 14:19:52 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36026/37115
2025-04-24 14:19:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:52 [info] currentZPosition:0.0186
2025-04-24 14:19:53 [debug] Stopped at height 0.018 mm
2025-04-24 14:19:53 [debug] Diagnostics for board 50:
2025-04-24 14:19:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:21:58 ago, cause: software
2025-04-24 14:19:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:53 [debug] Moves scheduled 27844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3692093458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:19:53 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19540, writes 0 timeouts 0
2025-04-24 14:19:53 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36050/37127
2025-04-24 14:19:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:53 [info] currentZPosition:0.0183
2025-04-24 14:19:54 [debug] Stopped at height 0.020 mm
2025-04-24 14:19:54 [debug] Diagnostics for board 50:
2025-04-24 14:19:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:21:59 ago, cause: software
2025-04-24 14:19:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:54 [debug] Moves scheduled 27848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 93, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3691096325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:19:54 [debug] Driver 0: pos -3448, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16687, writes 0 timeouts 0
2025-04-24 14:19:54 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36196/37145
2025-04-24 14:19:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8689, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:55 [info] currentZPosition:0.0198
2025-04-24 14:19:55 [debug] Stopped at height 0.019 mm
2025-04-24 14:19:56 [debug] Stopped at height 0.018 mm
2025-04-24 14:19:56 [debug] Diagnostics for board 50:
2025-04-24 14:19:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:01 ago, cause: software
2025-04-24 14:19:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:56 [debug] Moves scheduled 27854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 95, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3689670686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:19:56 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23903, writes 0 timeouts 0
2025-04-24 14:19:56 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35903/37167
2025-04-24 14:19:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:56 [info] currentZPosition:0.0180
2025-04-24 14:19:58 [debug] Stopped at height 0.018 mm
2025-04-24 14:19:58 [debug] Diagnostics for board 50:
2025-04-24 14:19:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:03 ago, cause: software
2025-04-24 14:19:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:58 [debug] Moves scheduled 27858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 93, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3688655990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:19:58 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17010, writes 0 timeouts 0
2025-04-24 14:19:58 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36385/37094
2025-04-24 14:19:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:58 [info] currentZPosition:0.0183
2025-04-24 14:19:59 [debug] Stopped at height 0.019 mm
2025-04-24 14:19:59 [debug] Diagnostics for board 50:
2025-04-24 14:19:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:19:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:04 ago, cause: software
2025-04-24 14:19:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:19:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:19:59 [debug] Moves scheduled 27862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3687505163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:19:59 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19316, writes 0 timeouts 0
2025-04-24 14:19:59 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 411, adv 35819/37076
2025-04-24 14:19:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:19:59 [info] currentZPosition:0.0186
2025-04-24 14:20:01 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:01 [debug] Diagnostics for board 50:
2025-04-24 14:20:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:05 ago, cause: software
2025-04-24 14:20:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:01 [debug] Moves scheduled 27866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 82, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3686451131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:20:01 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17658, writes 0 timeouts 0
2025-04-24 14:20:01 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35765/37120
2025-04-24 14:20:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4592, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:01 [info] currentZPosition:0.0169
2025-04-24 14:20:01 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:02 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:02 [debug] Diagnostics for board 50:
2025-04-24 14:20:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:07 ago, cause: software
2025-04-24 14:20:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:02 [debug] Moves scheduled 27872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3685086198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:20:02 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22907, writes 0 timeouts 0
2025-04-24 14:20:02 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35720/37149
2025-04-24 14:20:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:03 [info] currentZPosition:0.0183
2025-04-24 14:20:03 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:04 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:04 [debug] Diagnostics for board 50:
2025-04-24 14:20:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:09 ago, cause: software
2025-04-24 14:20:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:04 [debug] Moves scheduled 27878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3683830242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:20:04 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21049, writes 0 timeouts 0
2025-04-24 14:20:04 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36027/37125
2025-04-24 14:20:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:04 [info] currentZPosition:0.0188
2025-04-24 14:20:05 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:06 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:06 [debug] Diagnostics for board 50:
2025-04-24 14:20:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:11 ago, cause: software
2025-04-24 14:20:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:06 [debug] Moves scheduled 27884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 2/3, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3682458566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:20:06 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23021, writes 0 timeouts 0
2025-04-24 14:20:06 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36345/37118
2025-04-24 14:20:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:06 [info] currentZPosition:0.0197
2025-04-24 14:20:06 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:08 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:08 [debug] Diagnostics for board 50:
2025-04-24 14:20:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:22:13 ago, cause: software
2025-04-24 14:20:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:08 [debug] Moves scheduled 27890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 98, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3681170205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:20:08 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21622, writes 0 timeouts 0
2025-04-24 14:20:08 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36156/37071
2025-04-24 14:20:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:08 [info] currentZPosition:0.0187
2025-04-24 14:20:09 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:09 [debug] Diagnostics for board 50:
2025-04-24 14:20:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:14 ago, cause: software
2025-04-24 14:20:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:09 [debug] Moves scheduled 27894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3680012915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:20:09 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19391, writes 0 timeouts 0
2025-04-24 14:20:09 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 337, adv 36262/37158
2025-04-24 14:20:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8795, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:09 [info] currentZPosition:0.0187
2025-04-24 14:20:11 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:11 [debug] Diagnostics for board 50:
2025-04-24 14:20:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:15 ago, cause: software
2025-04-24 14:20:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:11 [debug] Moves scheduled 27898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3678994994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:20:11 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17056, writes 0 timeouts 0
2025-04-24 14:20:11 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35631/37172
2025-04-24 14:20:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:11 [info] currentZPosition:0.0188
2025-04-24 14:20:12 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:12 [debug] Diagnostics for board 50:
2025-04-24 14:20:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:17 ago, cause: software
2025-04-24 14:20:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:12 [debug] Moves scheduled 27902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3677848229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:20:12 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19328, writes 0 timeouts 0
2025-04-24 14:20:12 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36084/37126
2025-04-24 14:20:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:12 [info] currentZPosition:0.0191
2025-04-24 14:20:13 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:13 [debug] Diagnostics for board 50:
2025-04-24 14:20:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:22:18 ago, cause: software
2025-04-24 14:20:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:13 [debug] Moves scheduled 27906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 105, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3676816271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:20:13 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17227, writes 0 timeouts 0
2025-04-24 14:20:13 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 404, adv 35806/37071
2025-04-24 14:20:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:14 [info] currentZPosition:0.0186
2025-04-24 14:20:15 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:15 [debug] Diagnostics for board 50:
2025-04-24 14:20:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:22:20 ago, cause: software
2025-04-24 14:20:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:15 [debug] Moves scheduled 27910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3675660698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:20:15 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19392, writes 0 timeouts 0
2025-04-24 14:20:15 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 35991/37124
2025-04-24 14:20:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:15 [info] currentZPosition:0.0186
2025-04-24 14:20:16 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:16 [debug] Diagnostics for board 50:
2025-04-24 14:20:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:22:21 ago, cause: software
2025-04-24 14:20:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:16 [debug] Moves scheduled 27914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3674663407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:20:16 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16740, writes 0 timeouts 0
2025-04-24 14:20:16 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35968/37120
2025-04-24 14:20:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:16 [info] currentZPosition:0.0197
2025-04-24 14:20:18 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:18 [debug] Diagnostics for board 50:
2025-04-24 14:20:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:23 ago, cause: software
2025-04-24 14:20:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:18 [debug] Moves scheduled 27918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3673512570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:20:18 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19265, writes 0 timeouts 0
2025-04-24 14:20:18 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 35922/37168
2025-04-24 14:20:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8737, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:18 [info] currentZPosition:0.0199
2025-04-24 14:20:19 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:19 [debug] Diagnostics for board 50:
2025-04-24 14:20:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:24 ago, cause: software
2025-04-24 14:20:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:19 [debug] Moves scheduled 27922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3672490593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:20:19 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17126, writes 0 timeouts 0
2025-04-24 14:20:19 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36254/37120
2025-04-24 14:20:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:19 [info] currentZPosition:0.0199
2025-04-24 14:20:21 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:21 [debug] Diagnostics for board 50:
2025-04-24 14:20:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:26 ago, cause: software
2025-04-24 14:20:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:21 [debug] Moves scheduled 27926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter -1/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3671312977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:20:21 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19778, writes 0 timeouts 0
2025-04-24 14:20:21 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35761/37147
2025-04-24 14:20:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:21 [info] currentZPosition:0.0188
2025-04-24 14:20:22 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:22 [debug] Diagnostics for board 50:
2025-04-24 14:20:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:27 ago, cause: software
2025-04-24 14:20:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:22 [debug] Moves scheduled 27930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3670303064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:20:22 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16902, writes 0 timeouts 0
2025-04-24 14:20:22 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36333/37142
2025-04-24 14:20:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:22 [info] currentZPosition:0.0193
2025-04-24 14:20:24 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:24 [debug] Diagnostics for board 50:
2025-04-24 14:20:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:29 ago, cause: software
2025-04-24 14:20:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:24 [debug] Moves scheduled 27934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 89, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3669110374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:20:24 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19982, writes 0 timeouts 0
2025-04-24 14:20:24 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 35656/37132
2025-04-24 14:20:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8889, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:24 [info] currentZPosition:0.0171
2025-04-24 14:20:24 [debug] Stopped at height 0.016 mm
2025-04-24 14:20:25 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:25 [debug] Diagnostics for board 50:
2025-04-24 14:20:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:22:30 ago, cause: software
2025-04-24 14:20:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:25 [debug] Moves scheduled 27940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3667879143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:20:25 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20675, writes 0 timeouts 0
2025-04-24 14:20:25 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35838/37138
2025-04-24 14:20:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:25 [info] currentZPosition:0.0189
2025-04-24 14:20:26 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:27 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:27 [debug] Diagnostics for board 50:
2025-04-24 14:20:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:22:32 ago, cause: software
2025-04-24 14:20:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:27 [debug] Moves scheduled 27946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 93, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3666470739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:20:27 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23593, writes 0 timeouts 0
2025-04-24 14:20:27 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36299/37158
2025-04-24 14:20:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:27 [info] currentZPosition:0.0184
2025-04-24 14:20:29 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:29 [debug] Diagnostics for board 50:
2025-04-24 14:20:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:22:33 ago, cause: software
2025-04-24 14:20:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:29 [debug] Moves scheduled 27950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3665448475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:20:29 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17148, writes 0 timeouts 0
2025-04-24 14:20:29 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35918/37100
2025-04-24 14:20:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:29 [info] currentZPosition:0.0183
2025-04-24 14:20:30 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:30 [debug] Diagnostics for board 50:
2025-04-24 14:20:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:22:35 ago, cause: software
2025-04-24 14:20:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:30 [debug] Moves scheduled 27954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3664318930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:20:30 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18973, writes 0 timeouts 0
2025-04-24 14:20:30 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36152/37111
2025-04-24 14:20:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8752, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:30 [info] currentZPosition:0.0196
2025-04-24 14:20:31 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:32 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:32 [debug] Diagnostics for board 50:
2025-04-24 14:20:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:37 ago, cause: software
2025-04-24 14:20:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:32 [debug] Moves scheduled 27960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 65, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3663036620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:20:32 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21471, writes 0 timeouts 0
2025-04-24 14:20:32 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36207/37156
2025-04-24 14:20:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:32 [info] currentZPosition:0.0180
2025-04-24 14:20:33 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:33 [debug] Diagnostics for board 50:
2025-04-24 14:20:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:38 ago, cause: software
2025-04-24 14:20:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:33 [debug] Moves scheduled 27964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3661906044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:20:33 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18973, writes 0 timeouts 0
2025-04-24 14:20:33 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35935/37123
2025-04-24 14:20:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:33 [info] currentZPosition:0.0195
2025-04-24 14:20:34 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:35 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:35 [debug] Diagnostics for board 50:
2025-04-24 14:20:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:40 ago, cause: software
2025-04-24 14:20:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:35 [debug] Moves scheduled 27970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3660647330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:20:35 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21113, writes 0 timeouts 0
2025-04-24 14:20:35 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35632/37108
2025-04-24 14:20:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:35 [info] currentZPosition:0.0194
2025-04-24 14:20:35 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:37 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:37 [debug] Diagnostics for board 50:
2025-04-24 14:20:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:42 ago, cause: software
2025-04-24 14:20:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:37 [debug] Moves scheduled 27976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3659251572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:20:37 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23416, writes 0 timeouts 0
2025-04-24 14:20:37 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35821/37161
2025-04-24 14:20:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:37 [info] currentZPosition:0.0189
2025-04-24 14:20:37 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:39 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:39 [debug] Diagnostics for board 50:
2025-04-24 14:20:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:43 ago, cause: software
2025-04-24 14:20:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:39 [debug] Moves scheduled 27982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 109, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3658006098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:20:39 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20868, writes 0 timeouts 0
2025-04-24 14:20:39 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35936/37169
2025-04-24 14:20:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:39 [info] currentZPosition:0.0196
2025-04-24 14:20:39 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:40 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:40 [debug] Diagnostics for board 50:
2025-04-24 14:20:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:45 ago, cause: software
2025-04-24 14:20:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:40 [debug] Moves scheduled 27988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3656611615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:20:40 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23389, writes 0 timeouts 0
2025-04-24 14:20:40 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35669/37142
2025-04-24 14:20:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:41 [info] currentZPosition:0.0193
2025-04-24 14:20:42 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:42 [debug] Diagnostics for board 50:
2025-04-24 14:20:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:47 ago, cause: software
2025-04-24 14:20:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:42 [debug] Moves scheduled 27992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3655571200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:20:42 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17465, writes 0 timeouts 0
2025-04-24 14:20:42 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36138/37134
2025-04-24 14:20:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:42 [info] currentZPosition:0.0181
2025-04-24 14:20:43 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:43 [debug] Diagnostics for board 50:
2025-04-24 14:20:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:48 ago, cause: software
2025-04-24 14:20:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:43 [debug] Moves scheduled 27996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 110, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3654433819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:20:43 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19071, writes 0 timeouts 0
2025-04-24 14:20:43 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36214/37091
2025-04-24 14:20:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:43 [info] currentZPosition:0.0190
2025-04-24 14:20:45 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:45 [debug] Diagnostics for board 50:
2025-04-24 14:20:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:50 ago, cause: software
2025-04-24 14:20:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:45 [debug] Moves scheduled 28000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3653417745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:20:45 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17039, writes 0 timeouts 0
2025-04-24 14:20:45 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36278/37164
2025-04-24 14:20:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:45 [info] currentZPosition:0.0193
2025-04-24 14:20:46 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:46 [debug] Diagnostics for board 50:
2025-04-24 14:20:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:51 ago, cause: software
2025-04-24 14:20:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:46 [debug] Moves scheduled 28004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 93, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3652263609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:20:46 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19350, writes 0 timeouts 0
2025-04-24 14:20:46 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37111
2025-04-24 14:20:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:46 [info] currentZPosition:0.0192
2025-04-24 14:20:48 [debug] Stopped at height 0.017 mm
2025-04-24 14:20:48 [debug] Diagnostics for board 50:
2025-04-24 14:20:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:52 ago, cause: software
2025-04-24 14:20:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:48 [debug] Moves scheduled 28008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 81, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3651208563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:20:48 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17693, writes 0 timeouts 0
2025-04-24 14:20:48 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35801/37122
2025-04-24 14:20:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:48 [info] currentZPosition:0.0175
2025-04-24 14:20:48 [debug] Stopped at height 0.016 mm
2025-04-24 14:20:49 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:49 [debug] Diagnostics for board 50:
2025-04-24 14:20:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:54 ago, cause: software
2025-04-24 14:20:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:49 [debug] Moves scheduled 28014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 61, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3649852240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:20:49 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22750, writes 0 timeouts 0
2025-04-24 14:20:49 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35977/37146
2025-04-24 14:20:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:50 [info] currentZPosition:0.0200
2025-04-24 14:20:50 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:51 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:51 [debug] Diagnostics for board 50:
2025-04-24 14:20:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:56 ago, cause: software
2025-04-24 14:20:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:51 [debug] Moves scheduled 28020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter -3/4, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3648580187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:20:51 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21332, writes 0 timeouts 0
2025-04-24 14:20:51 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36083/37165
2025-04-24 14:20:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:51 [info] currentZPosition:0.0197
2025-04-24 14:20:53 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:53 [debug] Diagnostics for board 50:
2025-04-24 14:20:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:22:58 ago, cause: software
2025-04-24 14:20:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:53 [debug] Moves scheduled 28024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3647399970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:20:53 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19788, writes 0 timeouts 0
2025-04-24 14:20:53 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35801/37121
2025-04-24 14:20:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:53 [info] currentZPosition:0.0182
2025-04-24 14:20:53 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:54 [debug] Stopped at height 0.019 mm
2025-04-24 14:20:54 [debug] Diagnostics for board 50:
2025-04-24 14:20:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:22:59 ago, cause: software
2025-04-24 14:20:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:54 [debug] Moves scheduled 28030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3646156381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:20:54 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20863, writes 0 timeouts 0
2025-04-24 14:20:54 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36253/37106
2025-04-24 14:20:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:54 [info] currentZPosition:0.0191
2025-04-24 14:20:56 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:56 [debug] Diagnostics for board 50:
2025-04-24 14:20:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:23:01 ago, cause: software
2025-04-24 14:20:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:56 [debug] Moves scheduled 28034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3645018555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:20:56 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19078, writes 0 timeouts 0
2025-04-24 14:20:56 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35629/37164
2025-04-24 14:20:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:56 [info] currentZPosition:0.0198
2025-04-24 14:20:57 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:57 [debug] Diagnostics for board 50:
2025-04-24 14:20:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:23:02 ago, cause: software
2025-04-24 14:20:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:57 [debug] Moves scheduled 28038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 115, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3643975103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:20:57 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17509, writes 0 timeouts 0
2025-04-24 14:20:57 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 35775/37109
2025-04-24 14:20:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:57 [info] currentZPosition:0.0185
2025-04-24 14:20:58 [debug] Stopped at height 0.018 mm
2025-04-24 14:20:59 [debug] Stopped at height 0.020 mm
2025-04-24 14:20:59 [debug] Diagnostics for board 50:
2025-04-24 14:20:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:20:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:04 ago, cause: software
2025-04-24 14:20:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:20:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:20:59 [debug] Moves scheduled 28044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 120, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3642610179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:20:59 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22887, writes 0 timeouts 0
2025-04-24 14:20:59 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36226/37137
2025-04-24 14:20:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:20:59 [info] currentZPosition:0.0198
2025-04-24 14:21:00 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:01 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:01 [debug] Diagnostics for board 50:
2025-04-24 14:21:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:06 ago, cause: software
2025-04-24 14:21:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:01 [debug] Moves scheduled 28050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 118, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3641372931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:21:01 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20749, writes 0 timeouts 0
2025-04-24 14:21:01 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 439, adv 35945/37110
2025-04-24 14:21:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 813
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:01 [info] currentZPosition:0.0207
2025-04-24 14:21:01 [debug] Stopped at height 0.018 mm
2025-04-24 14:21:03 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:03 [debug] Diagnostics for board 50:
2025-04-24 14:21:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:07 ago, cause: software
2025-04-24 14:21:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:03 [debug] Moves scheduled 28056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 111, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3639974319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:21:03 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23477, writes 0 timeouts 0
2025-04-24 14:21:03 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36104/37109
2025-04-24 14:21:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:03 [info] currentZPosition:0.0201
2025-04-24 14:21:03 [debug] Stopped at height 0.018 mm
2025-04-24 14:21:04 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:04 [debug] Diagnostics for board 50:
2025-04-24 14:21:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:09 ago, cause: software
2025-04-24 14:21:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:04 [debug] Moves scheduled 28062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 103, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3638732230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 14:21:04 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20856, writes 0 timeouts 0
2025-04-24 14:21:04 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36147/37127
2025-04-24 14:21:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8733, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 813
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:04 [info] currentZPosition:0.0211
2025-04-24 14:21:05 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:06 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:06 [debug] Diagnostics for board 50:
2025-04-24 14:21:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:11 ago, cause: software
2025-04-24 14:21:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:06 [debug] Moves scheduled 28068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3637336324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:21:06 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23406, writes 0 timeouts 0
2025-04-24 14:21:06 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35942/37120
2025-04-24 14:21:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:06 [info] currentZPosition:0.0207
2025-04-24 14:21:07 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:08 [debug] Stopped at height 0.018 mm
2025-04-24 14:21:08 [debug] Diagnostics for board 50:
2025-04-24 14:21:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:13 ago, cause: software
2025-04-24 14:21:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:08 [debug] Moves scheduled 28074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -4/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3636041159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:21:08 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21702, writes 0 timeouts 0
2025-04-24 14:21:08 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36229/37107
2025-04-24 14:21:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:08 [info] currentZPosition:0.0185
2025-04-24 14:21:09 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:09 [debug] Diagnostics for board 50:
2025-04-24 14:21:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:14 ago, cause: software
2025-04-24 14:21:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:09 [debug] Moves scheduled 28078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3634917054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:21:09 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18855, writes 0 timeouts 0
2025-04-24 14:21:09 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 340, adv 35824/37129
2025-04-24 14:21:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:09 [info] currentZPosition:0.0200
2025-04-24 14:21:10 [debug] Stopped at height 0.018 mm
2025-04-24 14:21:11 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:11 [debug] Diagnostics for board 50:
2025-04-24 14:21:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:16 ago, cause: software
2025-04-24 14:21:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:11 [debug] Moves scheduled 28084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3633665032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:21:11 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21025, writes 0 timeouts 0
2025-04-24 14:21:11 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35634/37159
2025-04-24 14:21:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:11 [info] currentZPosition:0.0202
2025-04-24 14:21:11 [debug] Stopped at height 0.018 mm
2025-04-24 14:21:13 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:13 [debug] Diagnostics for board 50:
2025-04-24 14:21:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:18 ago, cause: software
2025-04-24 14:21:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:13 [debug] Moves scheduled 28090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3632282393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:21:13 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23179, writes 0 timeouts 0
2025-04-24 14:21:13 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35676/37150
2025-04-24 14:21:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:13 [info] currentZPosition:0.0203
2025-04-24 14:21:13 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:15 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:15 [debug] Diagnostics for board 50:
2025-04-24 14:21:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:19 ago, cause: software
2025-04-24 14:21:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:15 [debug] Moves scheduled 28096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3631015522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:21:15 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21251, writes 0 timeouts 0
2025-04-24 14:21:15 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35904/37161
2025-04-24 14:21:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:15 [info] currentZPosition:0.0200
2025-04-24 14:21:16 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:16 [debug] Diagnostics for board 50:
2025-04-24 14:21:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:21 ago, cause: software
2025-04-24 14:21:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:16 [debug] Moves scheduled 28100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3629857143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:21:16 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19437, writes 0 timeouts 0
2025-04-24 14:21:16 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36244/37129
2025-04-24 14:21:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:16 [info] currentZPosition:0.0196
2025-04-24 14:21:17 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:17 [debug] Diagnostics for board 50:
2025-04-24 14:21:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:22 ago, cause: software
2025-04-24 14:21:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:17 [debug] Moves scheduled 28104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15306
Sync err accum 79, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3628856427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:21:17 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16774, writes 0 timeouts 0
2025-04-24 14:21:17 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36105/37084
2025-04-24 14:21:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8727, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:18 [info] currentZPosition:0.0208
2025-04-24 14:21:19 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:19 [debug] Diagnostics for board 50:
2025-04-24 14:21:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:24 ago, cause: software
2025-04-24 14:21:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:19 [debug] Moves scheduled 28108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3627684015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:21:19 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19660, writes 0 timeouts 0
2025-04-24 14:21:19 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36099/37106
2025-04-24 14:21:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4591, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:19 [info] currentZPosition:0.0196
2025-04-24 14:21:20 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:20 [debug] Diagnostics for board 50:
2025-04-24 14:21:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:25 ago, cause: software
2025-04-24 14:21:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:20 [debug] Moves scheduled 28112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 60, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3626652343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:21:20 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17335, writes 0 timeouts 0
2025-04-24 14:21:20 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36296/37119
2025-04-24 14:21:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:20 [info] currentZPosition:0.0192
2025-04-24 14:21:22 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:22 [debug] Diagnostics for board 50:
2025-04-24 14:21:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:27 ago, cause: software
2025-04-24 14:21:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:22 [debug] Moves scheduled 28116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 3625511369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:21:22 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19106, writes 0 timeouts 0
2025-04-24 14:21:22 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35954/37121
2025-04-24 14:21:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:22 [info] currentZPosition:0.0198
2025-04-24 14:21:23 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:23 [debug] Diagnostics for board 50:
2025-04-24 14:21:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:28 ago, cause: software
2025-04-24 14:21:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:23 [debug] Moves scheduled 28120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3624475755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:21:23 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17371, writes 0 timeouts 0
2025-04-24 14:21:23 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35772/37070
2025-04-24 14:21:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:23 [info] currentZPosition:0.0192
2025-04-24 14:21:25 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:25 [debug] Diagnostics for board 50:
2025-04-24 14:21:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:30 ago, cause: software
2025-04-24 14:21:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:25 [debug] Moves scheduled 28124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 105, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3623354045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:21:25 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18812, writes 0 timeouts 0
2025-04-24 14:21:25 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35855/37166
2025-04-24 14:21:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:25 [info] currentZPosition:0.0208
2025-04-24 14:21:25 [debug] Stopped at height 0.018 mm
2025-04-24 14:21:26 [debug] Stopped at height 0.016 mm
2025-04-24 14:21:26 [debug] Stopped at height 0.015 mm
2025-04-24 14:21:27 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:27 [debug] Diagnostics for board 50:
2025-04-24 14:21:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:32 ago, cause: software
2025-04-24 14:21:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:27 [debug] Moves scheduled 28134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 118, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3621575114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:21:27 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 29839, writes 0 timeouts 0
2025-04-24 14:21:27 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 33, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36026/37144
2025-04-24 14:21:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:27 [info] currentZPosition:0.0199
2025-04-24 14:21:28 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:29 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:29 [debug] Diagnostics for board 50:
2025-04-24 14:21:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:23:34 ago, cause: software
2025-04-24 14:21:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:29 [debug] Moves scheduled 28140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9615, max=15000
Sync err accum 124, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3620175941 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:21:29 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23451, writes 0 timeouts 0
2025-04-24 14:21:29 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35647/37111
2025-04-24 14:21:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:29 [info] currentZPosition:0.0196
2025-04-24 14:21:30 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:30 [debug] Diagnostics for board 50:
2025-04-24 14:21:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:35 ago, cause: software
2025-04-24 14:21:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:30 [debug] Moves scheduled 28144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 122, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3619188582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:21:30 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16588, writes 0 timeouts 0
2025-04-24 14:21:30 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36134/37096
2025-04-24 14:21:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8734, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:30 [info] currentZPosition:0.0215
2025-04-24 14:21:31 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:32 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:32 [debug] Diagnostics for board 50:
2025-04-24 14:21:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:37 ago, cause: software
2025-04-24 14:21:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:32 [debug] Moves scheduled 28150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 117, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3617790800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:21:32 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23423, writes 0 timeouts 0
2025-04-24 14:21:32 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36254/37093
2025-04-24 14:21:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:32 [info] currentZPosition:0.0207
2025-04-24 14:21:34 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:34 [debug] Diagnostics for board 50:
2025-04-24 14:21:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:38 ago, cause: software
2025-04-24 14:21:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:34 [debug] Moves scheduled 28154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 108, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3616750535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:21:34 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17438, writes 0 timeouts 0
2025-04-24 14:21:34 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 35656/37132
2025-04-24 14:21:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:34 [info] currentZPosition:0.0198
2025-04-24 14:21:35 [debug] Stopped at height 0.022 mm
2025-04-24 14:21:35 [debug] Diagnostics for board 50:
2025-04-24 14:21:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:40 ago, cause: software
2025-04-24 14:21:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:35 [debug] Moves scheduled 28158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 94, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3615638947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:21:35 [debug] Driver 0: pos -3452, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18659, writes 0 timeouts 0
2025-04-24 14:21:35 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36127/37125
2025-04-24 14:21:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8706, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:35 [info] currentZPosition:0.0217
2025-04-24 14:21:35 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:37 [debug] Stopped at height 0.019 mm
2025-04-24 14:21:37 [debug] Diagnostics for board 50:
2025-04-24 14:21:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:42 ago, cause: software
2025-04-24 14:21:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:37 [debug] Moves scheduled 28164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3614334313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:21:37 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21870, writes 0 timeouts 0
2025-04-24 14:21:37 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35921/37146
2025-04-24 14:21:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:37 [info] currentZPosition:0.0191
2025-04-24 14:21:38 [debug] Stopped at height 0.022 mm
2025-04-24 14:21:38 [debug] Diagnostics for board 50:
2025-04-24 14:21:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:23:43 ago, cause: software
2025-04-24 14:21:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:38 [debug] Moves scheduled 28168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 58, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3613237539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:21:38 [debug] Driver 0: pos -3450, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18407, writes 0 timeouts 0
2025-04-24 14:21:38 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36026/37174
2025-04-24 14:21:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8721, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:38 [info] currentZPosition:0.0219
2025-04-24 14:21:39 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:40 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:40 [debug] Diagnostics for board 50:
2025-04-24 14:21:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:45 ago, cause: software
2025-04-24 14:21:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:40 [debug] Moves scheduled 28174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/4, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3611932951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:21:40 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21884, writes 0 timeouts 0
2025-04-24 14:21:40 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36024/37102
2025-04-24 14:21:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:40 [info] currentZPosition:0.0196
2025-04-24 14:21:41 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:41 [debug] Diagnostics for board 50:
2025-04-24 14:21:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:46 ago, cause: software
2025-04-24 14:21:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:41 [debug] Moves scheduled 28178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15306
Sync err accum 79, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3610803808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:21:41 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18952, writes 0 timeouts 0
2025-04-24 14:21:41 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 35843/37120
2025-04-24 14:21:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:42 [info] currentZPosition:0.0206
2025-04-24 14:21:43 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:43 [debug] Diagnostics for board 50:
2025-04-24 14:21:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:23:48 ago, cause: software
2025-04-24 14:21:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:43 [debug] Moves scheduled 28182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3609768195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:21:43 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17348, writes 0 timeouts 0
2025-04-24 14:21:43 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36227/37139
2025-04-24 14:21:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:43 [info] currentZPosition:0.0201
2025-04-24 14:21:44 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:44 [debug] Diagnostics for board 50:
2025-04-24 14:21:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:49 ago, cause: software
2025-04-24 14:21:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:44 [debug] Moves scheduled 28186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3608625305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:21:44 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19184, writes 0 timeouts 0
2025-04-24 14:21:44 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35699/37166
2025-04-24 14:21:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:44 [info] currentZPosition:0.0205
2025-04-24 14:21:46 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:46 [debug] Diagnostics for board 50:
2025-04-24 14:21:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:23:51 ago, cause: software
2025-04-24 14:21:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:46 [debug] Moves scheduled 28190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8720, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3607593137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:21:46 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17305, writes 0 timeouts 0
2025-04-24 14:21:46 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 35718/37101
2025-04-24 14:21:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:46 [info] currentZPosition:0.0201
2025-04-24 14:21:47 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:47 [debug] Diagnostics for board 50:
2025-04-24 14:21:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:52 ago, cause: software
2025-04-24 14:21:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:47 [debug] Moves scheduled 28194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3606470646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:21:47 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18839, writes 0 timeouts 0
2025-04-24 14:21:47 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36281/37164
2025-04-24 14:21:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8740, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:47 [info] currentZPosition:0.0215
2025-04-24 14:21:48 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:49 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:49 [debug] Diagnostics for board 50:
2025-04-24 14:21:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:23:54 ago, cause: software
2025-04-24 14:21:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:49 [debug] Moves scheduled 28200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3605180087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:21:49 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21626, writes 0 timeouts 0
2025-04-24 14:21:49 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35928/37148
2025-04-24 14:21:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:49 [info] currentZPosition:0.0196
2025-04-24 14:21:50 [debug] Stopped at height 0.022 mm
2025-04-24 14:21:50 [debug] Diagnostics for board 50:
2025-04-24 14:21:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:23:55 ago, cause: software
2025-04-24 14:21:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:50 [debug] Moves scheduled 28204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3604071774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:21:50 [debug] Driver 0: pos -3454, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18635, writes 0 timeouts 0
2025-04-24 14:21:50 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36136/37131
2025-04-24 14:21:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8746, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:51 [info] currentZPosition:0.0216
2025-04-24 14:21:51 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:52 [debug] Stopped at height 0.020 mm
2025-04-24 14:21:52 [debug] Diagnostics for board 50:
2025-04-24 14:21:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:23:57 ago, cause: software
2025-04-24 14:21:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:52 [debug] Moves scheduled 28210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3602790133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:21:52 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21444, writes 0 timeouts 0
2025-04-24 14:21:52 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36114/37117
2025-04-24 14:21:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:52 [info] currentZPosition:0.0205
2025-04-24 14:21:54 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:54 [debug] Diagnostics for board 50:
2025-04-24 14:21:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:23:59 ago, cause: software
2025-04-24 14:21:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:54 [debug] Moves scheduled 28214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3601650985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:21:54 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19119, writes 0 timeouts 0
2025-04-24 14:21:54 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36055/37153
2025-04-24 14:21:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8767, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:54 [info] currentZPosition:0.0209
2025-04-24 14:21:55 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:55 [debug] Diagnostics for board 50:
2025-04-24 14:21:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:00 ago, cause: software
2025-04-24 14:21:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:55 [debug] Moves scheduled 28218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 72, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3600630750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:21:55 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17120, writes 0 timeouts 0
2025-04-24 14:21:55 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36338/37106
2025-04-24 14:21:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:55 [info] currentZPosition:0.0212
2025-04-24 14:21:57 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:57 [debug] Diagnostics for board 50:
2025-04-24 14:21:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:01 ago, cause: software
2025-04-24 14:21:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:57 [debug] Moves scheduled 28222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3599481634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:21:57 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19252, writes 0 timeouts 0
2025-04-24 14:21:57 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35879/37110
2025-04-24 14:21:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:57 [info] currentZPosition:0.0213
2025-04-24 14:21:58 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:58 [debug] Diagnostics for board 50:
2025-04-24 14:21:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:24:03 ago, cause: software
2025-04-24 14:21:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:58 [debug] Moves scheduled 28226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3598443944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:21:58 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17405, writes 0 timeouts 0
2025-04-24 14:21:58 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35697/37120
2025-04-24 14:21:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:21:58 [info] currentZPosition:0.0207
2025-04-24 14:21:59 [debug] Stopped at height 0.021 mm
2025-04-24 14:21:59 [debug] Diagnostics for board 50:
2025-04-24 14:21:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:21:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:24:04 ago, cause: software
2025-04-24 14:21:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:21:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:21:59 [debug] Moves scheduled 28230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3597296776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:21:59 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19316, writes 0 timeouts 0
2025-04-24 14:21:59 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35728/37140
2025-04-24 14:21:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:00 [info] currentZPosition:0.0207
2025-04-24 14:22:01 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:01 [debug] Diagnostics for board 50:
2025-04-24 14:22:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:06 ago, cause: software
2025-04-24 14:22:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:01 [debug] Moves scheduled 28234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter 0/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3596287019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:22:01 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16859, writes 0 timeouts 0
2025-04-24 14:22:01 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35924/37120
2025-04-24 14:22:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:01 [info] currentZPosition:0.0217
2025-04-24 14:22:02 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:02 [debug] Diagnostics for board 50:
2025-04-24 14:22:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:07 ago, cause: software
2025-04-24 14:22:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:02 [debug] Moves scheduled 28238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3595112959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:02 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19689, writes 0 timeouts 0
2025-04-24 14:22:02 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35582/37126
2025-04-24 14:22:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:02 [info] currentZPosition:0.0203
2025-04-24 14:22:03 [debug] Stopped at height 0.018 mm
2025-04-24 14:22:03 [debug] Stopped at height 0.017 mm
2025-04-24 14:22:04 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:04 [debug] Diagnostics for board 50:
2025-04-24 14:22:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:09 ago, cause: software
2025-04-24 14:22:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:04 [debug] Moves scheduled 28246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3593605092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:22:04 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25328, writes 0 timeouts 0
2025-04-24 14:22:04 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36303/37153
2025-04-24 14:22:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:05 [info] currentZPosition:0.0207
2025-04-24 14:22:05 [debug] Stopped at height 0.018 mm
2025-04-24 14:22:06 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:06 [debug] Diagnostics for board 50:
2025-04-24 14:22:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:11 ago, cause: software
2025-04-24 14:22:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:06 [debug] Moves scheduled 28252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3592236298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:06 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22902, writes 0 timeouts 0
2025-04-24 14:22:06 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36213/37161
2025-04-24 14:22:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8758, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:06 [info] currentZPosition:0.0215
2025-04-24 14:22:07 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:08 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:08 [debug] Diagnostics for board 50:
2025-04-24 14:22:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:13 ago, cause: software
2025-04-24 14:22:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:08 [debug] Moves scheduled 28258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3590978547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:08 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21110, writes 0 timeouts 0
2025-04-24 14:22:08 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35798/37155
2025-04-24 14:22:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:08 [info] currentZPosition:0.0219
2025-04-24 14:22:09 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:09 [debug] Diagnostics for board 50:
2025-04-24 14:22:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:14 ago, cause: software
2025-04-24 14:22:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:09 [debug] Moves scheduled 28262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3589800443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:09 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19764, writes 0 timeouts 0
2025-04-24 14:22:09 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36058/37171
2025-04-24 14:22:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:10 [info] currentZPosition:0.0199
2025-04-24 14:22:10 [debug] Stopped at height 0.019 mm
2025-04-24 14:22:11 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:11 [debug] Diagnostics for board 50:
2025-04-24 14:22:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:16 ago, cause: software
2025-04-24 14:22:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:11 [debug] Moves scheduled 28268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15306
Sync err accum 70, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3588551246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:11 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20922, writes 0 timeouts 0
2025-04-24 14:22:11 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36082/37173
2025-04-24 14:22:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:11 [info] currentZPosition:0.0209
2025-04-24 14:22:12 [debug] Stopped at height 0.018 mm
2025-04-24 14:22:13 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:13 [debug] Diagnostics for board 50:
2025-04-24 14:22:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:18 ago, cause: software
2025-04-24 14:22:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:13 [debug] Moves scheduled 28274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3587170567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:22:13 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23158, writes 0 timeouts 0
2025-04-24 14:22:13 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35939/37148
2025-04-24 14:22:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:13 [info] currentZPosition:0.0207
2025-04-24 14:22:13 [debug] Stopped at height 0.018 mm
2025-04-24 14:22:15 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:15 [debug] Diagnostics for board 50:
2025-04-24 14:22:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:20 ago, cause: software
2025-04-24 14:22:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:15 [debug] Moves scheduled 28280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 84, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3585930100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:22:15 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20799, writes 0 timeouts 0
2025-04-24 14:22:15 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36265/37160
2025-04-24 14:22:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8754, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:15 [info] currentZPosition:0.0215
2025-04-24 14:22:15 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:17 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:17 [debug] Diagnostics for board 50:
2025-04-24 14:22:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:21 ago, cause: software
2025-04-24 14:22:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:17 [debug] Moves scheduled 28286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3584524360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:17 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23583, writes 0 timeouts 0
2025-04-24 14:22:17 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35816/37152
2025-04-24 14:22:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:17 [info] currentZPosition:0.0207
2025-04-24 14:22:18 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:18 [debug] Diagnostics for board 50:
2025-04-24 14:22:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:23 ago, cause: software
2025-04-24 14:22:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:18 [debug] Moves scheduled 28290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3583497937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:22:18 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17204, writes 0 timeouts 0
2025-04-24 14:22:18 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 35758/37125
2025-04-24 14:22:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:18 [info] currentZPosition:0.0206
2025-04-24 14:22:19 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:19 [debug] Diagnostics for board 50:
2025-04-24 14:22:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:24 ago, cause: software
2025-04-24 14:22:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:19 [debug] Moves scheduled 28294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10135, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3582362781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, ma
2025-04-24 14:22:19 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19048, writes 0 timeouts 0
2025-04-24 14:22:19 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35699/37092
2025-04-24 14:22:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:20 [info] currentZPosition:0.0211
2025-04-24 14:22:21 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:21 [debug] Diagnostics for board 50:
2025-04-24 14:22:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:26 ago, cause: software
2025-04-24 14:22:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:21 [debug] Moves scheduled 28298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3581353511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:21 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16925, writes 0 timeouts 0
2025-04-24 14:22:21 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35941/37130
2025-04-24 14:22:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:21 [info] currentZPosition:0.0219
2025-04-24 14:22:22 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:22 [debug] Diagnostics for board 50:
2025-04-24 14:22:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:27 ago, cause: software
2025-04-24 14:22:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:22 [debug] Moves scheduled 28302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3580191682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:22:22 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19484, writes 0 timeouts 0
2025-04-24 14:22:22 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36253/37108
2025-04-24 14:22:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:22 [info] currentZPosition:0.0211
2025-04-24 14:22:24 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:24 [debug] Diagnostics for board 50:
2025-04-24 14:22:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:29 ago, cause: software
2025-04-24 14:22:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:24 [debug] Moves scheduled 28306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3579172624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:22:24 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17086, writes 0 timeouts 0
2025-04-24 14:22:24 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36107/37116
2025-04-24 14:22:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:24 [info] currentZPosition:0.0213
2025-04-24 14:22:25 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:25 [debug] Diagnostics for board 50:
2025-04-24 14:22:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:24:30 ago, cause: software
2025-04-24 14:22:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:25 [debug] Moves scheduled 28310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3578003252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:25 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19611, writes 0 timeouts 0
2025-04-24 14:22:25 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36129/37118
2025-04-24 14:22:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8847, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:25 [info] currentZPosition:0.0199
2025-04-24 14:22:26 [debug] Stopped at height 0.018 mm
2025-04-24 14:22:26 [debug] Stopped at height 0.017 mm
2025-04-24 14:22:27 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:27 [debug] Diagnostics for board 50:
2025-04-24 14:22:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:32 ago, cause: software
2025-04-24 14:22:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:27 [debug] Moves scheduled 28318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 65, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3576518685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:27 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24921, writes 0 timeouts 0
2025-04-24 14:22:27 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35602/37168
2025-04-24 14:22:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:27 [info] currentZPosition:0.0214
2025-04-24 14:22:28 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:28 [debug] Stopped at height 0.018 mm
2025-04-24 14:22:29 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:29 [debug] Diagnostics for board 50:
2025-04-24 14:22:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:34 ago, cause: software
2025-04-24 14:22:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:29 [debug] Moves scheduled 28326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3574895492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:29 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27220, writes 0 timeouts 0
2025-04-24 14:22:29 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35971/37155
2025-04-24 14:22:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:29 [info] currentZPosition:0.0218
2025-04-24 14:22:30 [debug] Stopped at height 0.019 mm
2025-04-24 14:22:31 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:31 [debug] Diagnostics for board 50:
2025-04-24 14:22:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:36 ago, cause: software
2025-04-24 14:22:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:31 [debug] Moves scheduled 28332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3573625247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:22:31 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21285, writes 0 timeouts 0
2025-04-24 14:22:31 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35766/37116
2025-04-24 14:22:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:31 [info] currentZPosition:0.0210
2025-04-24 14:22:32 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:33 [debug] Stopped at height 0.023 mm
2025-04-24 14:22:33 [debug] Diagnostics for board 50:
2025-04-24 14:22:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:38 ago, cause: software
2025-04-24 14:22:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:33 [debug] Moves scheduled 28338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15306
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3572286594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:22:33 [debug] Driver 0: pos -3449, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22465, writes 0 timeouts 0
2025-04-24 14:22:33 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35801/37149
2025-04-24 14:22:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:33 [info] currentZPosition:0.0232
2025-04-24 14:22:33 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:35 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:35 [debug] Diagnostics for board 50:
2025-04-24 14:22:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:39 ago, cause: software
2025-04-24 14:22:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:35 [debug] Moves scheduled 28344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3570971080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:35 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22048, writes 0 timeouts 0
2025-04-24 14:22:35 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36013/37152
2025-04-24 14:22:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:35 [info] currentZPosition:0.0204
2025-04-24 14:22:35 [debug] Stopped at height 0.019 mm
2025-04-24 14:22:36 [debug] Stopped at height 0.023 mm
2025-04-24 14:22:36 [debug] Diagnostics for board 50:
2025-04-24 14:22:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:41 ago, cause: software
2025-04-24 14:22:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:36 [debug] Moves scheduled 28350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 75, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3569621165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:36 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22664, writes 0 timeouts 0
2025-04-24 14:22:36 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35746/37141
2025-04-24 14:22:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:36 [info] currentZPosition:0.0226
2025-04-24 14:22:37 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:38 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:38 [debug] Diagnostics for board 50:
2025-04-24 14:22:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:43 ago, cause: software
2025-04-24 14:22:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:38 [debug] Moves scheduled 28356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3568353321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:22:38 [debug] Driver 0: pos -3457, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21232, writes 0 timeouts 0
2025-04-24 14:22:38 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36200/37099
2025-04-24 14:22:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:38 [info] currentZPosition:0.0224
2025-04-24 14:22:40 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:40 [debug] Diagnostics for board 50:
2025-04-24 14:22:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:45 ago, cause: software
2025-04-24 14:22:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:40 [debug] Moves scheduled 28360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3567183909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:40 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19622, writes 0 timeouts 0
2025-04-24 14:22:40 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36270/37097
2025-04-24 14:22:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:40 [info] currentZPosition:0.0210
2025-04-24 14:22:40 [debug] Stopped at height 0.019 mm
2025-04-24 14:22:40 [debug] Stopped at height 0.018 mm
2025-04-24 14:22:42 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:42 [debug] Diagnostics for board 50:
2025-04-24 14:22:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:47 ago, cause: software
2025-04-24 14:22:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:42 [debug] Moves scheduled 28368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3565663656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:22:42 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25512, writes 0 timeouts 0
2025-04-24 14:22:42 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35652/37123
2025-04-24 14:22:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:42 [info] currentZPosition:0.0207
2025-04-24 14:22:42 [debug] Stopped at height 0.019 mm
2025-04-24 14:22:43 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:43 [debug] Diagnostics for board 50:
2025-04-24 14:22:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:24:48 ago, cause: software
2025-04-24 14:22:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:43 [debug] Moves scheduled 28374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3564298496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:22:43 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22873, writes 0 timeouts 0
2025-04-24 14:22:43 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36131/37126
2025-04-24 14:22:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:44 [info] currentZPosition:0.0215
2025-04-24 14:22:44 [debug] Stopped at height 0.019 mm
2025-04-24 14:22:45 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:45 [debug] Diagnostics for board 50:
2025-04-24 14:22:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:50 ago, cause: software
2025-04-24 14:22:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:45 [debug] Moves scheduled 28380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3563055128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:45 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20861, writes 0 timeouts 0
2025-04-24 14:22:45 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 35890/37168
2025-04-24 14:22:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 814
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:45 [info] currentZPosition:0.0223
2025-04-24 14:22:46 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:47 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:47 [debug] Diagnostics for board 50:
2025-04-24 14:22:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:52 ago, cause: software
2025-04-24 14:22:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:47 [debug] Moves scheduled 28386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9868, max=15000
Sync err accum 109, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3561684028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:47 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23004, writes 0 timeouts 0
2025-04-24 14:22:47 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36021/37103
2025-04-24 14:22:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8769, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:47 [info] currentZPosition:0.0224
2025-04-24 14:22:47 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:49 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:49 [debug] Diagnostics for board 50:
2025-04-24 14:22:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:54 ago, cause: software
2025-04-24 14:22:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:49 [debug] Moves scheduled 28392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3560418948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:22:49 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21205, writes 0 timeouts 0
2025-04-24 14:22:49 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36065/37171
2025-04-24 14:22:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:49 [info] currentZPosition:0.0221
2025-04-24 14:22:50 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:50 [debug] Diagnostics for board 50:
2025-04-24 14:22:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:55 ago, cause: software
2025-04-24 14:22:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:50 [debug] Moves scheduled 28396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3559262337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:22:50 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19384, writes 0 timeouts 0
2025-04-24 14:22:50 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35873/37163
2025-04-24 14:22:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:50 [info] currentZPosition:0.0215
2025-04-24 14:22:52 [debug] Stopped at height 0.023 mm
2025-04-24 14:22:52 [debug] Diagnostics for board 50:
2025-04-24 14:22:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:56 ago, cause: software
2025-04-24 14:22:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:52 [debug] Moves scheduled 28400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3558276223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:22:52 [debug] Driver 0: pos -3453, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16553, writes 0 timeouts 0
2025-04-24 14:22:52 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36289/37152
2025-04-24 14:22:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8731, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:52 [info] currentZPosition:0.0234
2025-04-24 14:22:52 [debug] Stopped at height 0.021 mm
2025-04-24 14:22:53 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:53 [debug] Diagnostics for board 50:
2025-04-24 14:22:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:24:58 ago, cause: software
2025-04-24 14:22:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:53 [debug] Moves scheduled 28406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3556834091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:22:53 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24179, writes 0 timeouts 0
2025-04-24 14:22:53 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35720/37148
2025-04-24 14:22:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:54 [info] currentZPosition:0.0196
2025-04-24 14:22:55 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:55 [debug] Diagnostics for board 50:
2025-04-24 14:22:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:25:00 ago, cause: software
2025-04-24 14:22:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:55 [debug] Moves scheduled 28410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 170, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -4/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3555854103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:22:55 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16469, writes 0 timeouts 0
2025-04-24 14:22:55 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35762/37133
2025-04-24 14:22:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8823, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:55 [info] currentZPosition:0.0221
2025-04-24 14:22:55 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:57 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:57 [debug] Diagnostics for board 50:
2025-04-24 14:22:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:01 ago, cause: software
2025-04-24 14:22:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:57 [debug] Moves scheduled 28416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3554485328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:22:57 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22930, writes 0 timeouts 0
2025-04-24 14:22:57 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36282/37148
2025-04-24 14:22:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:57 [info] currentZPosition:0.0224
2025-04-24 14:22:57 [debug] Stopped at height 0.020 mm
2025-04-24 14:22:58 [debug] Stopped at height 0.022 mm
2025-04-24 14:22:58 [debug] Diagnostics for board 50:
2025-04-24 14:22:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:22:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:03 ago, cause: software
2025-04-24 14:22:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:22:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:22:58 [debug] Moves scheduled 28422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3553220237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:22:58 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21268, writes 0 timeouts 0
2025-04-24 14:22:58 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35888/37123
2025-04-24 14:22:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:22:58 [info] currentZPosition:0.0218
2025-04-24 14:22:59 [debug] Stopped at height 0.020 mm
2025-04-24 14:23:00 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:00 [debug] Diagnostics for board 50:
2025-04-24 14:23:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:05 ago, cause: software
2025-04-24 14:23:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:00 [debug] Moves scheduled 28428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3551850656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:00 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22920, writes 0 timeouts 0
2025-04-24 14:23:00 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 421, adv 36147/37149
2025-04-24 14:23:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:00 [info] currentZPosition:0.0222
2025-04-24 14:23:01 [debug] Stopped at height 0.020 mm
2025-04-24 14:23:02 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:02 [debug] Diagnostics for board 50:
2025-04-24 14:23:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:07 ago, cause: software
2025-04-24 14:23:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:02 [debug] Moves scheduled 28434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3550593997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:02 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21072, writes 0 timeouts 0
2025-04-24 14:23:02 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36108/37111
2025-04-24 14:23:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:02 [info] currentZPosition:0.0221
2025-04-24 14:23:02 [debug] Stopped at height 0.021 mm
2025-04-24 14:23:04 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:04 [debug] Diagnostics for board 50:
2025-04-24 14:23:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:08 ago, cause: software
2025-04-24 14:23:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:04 [debug] Moves scheduled 28440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3549233196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:04 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22816, writes 0 timeouts 0
2025-04-24 14:23:04 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36032/37154
2025-04-24 14:23:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:04 [info] currentZPosition:0.0230
2025-04-24 14:23:04 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:05 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:05 [debug] Diagnostics for board 50:
2025-04-24 14:23:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:10 ago, cause: software
2025-04-24 14:23:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:05 [debug] Moves scheduled 28446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3547968843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:05 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21216, writes 0 timeouts 0
2025-04-24 14:23:05 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35588/37122
2025-04-24 14:23:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:05 [info] currentZPosition:0.0231
2025-04-24 14:23:07 [debug] Stopped at height 0.021 mm
2025-04-24 14:23:07 [debug] Diagnostics for board 50:
2025-04-24 14:23:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:12 ago, cause: software
2025-04-24 14:23:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:07 [debug] Moves scheduled 28450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3546798110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:23:07 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19632, writes 0 timeouts 0
2025-04-24 14:23:07 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 35877/37133
2025-04-24 14:23:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:07 [info] currentZPosition:0.0214
2025-04-24 14:23:07 [debug] Stopped at height 0.019 mm
2025-04-24 14:23:08 [debug] Stopped at height 0.019 mm
2025-04-24 14:23:09 [debug] Stopped at height 0.020 mm
2025-04-24 14:23:09 [debug] Diagnostics for board 50:
2025-04-24 14:23:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:14 ago, cause: software
2025-04-24 14:23:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:09 [debug] Moves scheduled 28458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8928, max=15306
Sync err accum 92, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3545264545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:23:09 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25720, writes 0 timeouts 0
2025-04-24 14:23:09 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36318/37147
2025-04-24 14:23:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:09 [info] currentZPosition:0.0200
2025-04-24 14:23:10 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:10 [debug] Diagnostics for board 50:
2025-04-24 14:23:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:15 ago, cause: software
2025-04-24 14:23:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:10 [debug] Moves scheduled 28462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3544179686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:23:10 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18192, writes 0 timeouts 0
2025-04-24 14:23:10 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35741/37142
2025-04-24 14:23:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:10 [info] currentZPosition:0.0231
2025-04-24 14:23:11 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:12 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:12 [debug] Diagnostics for board 50:
2025-04-24 14:23:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:17 ago, cause: software
2025-04-24 14:23:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:12 [debug] Moves scheduled 28468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 93, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3542901094 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:12 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21433, writes 0 timeouts 0
2025-04-24 14:23:12 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36328/37106
2025-04-24 14:23:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:12 [info] currentZPosition:0.0228
2025-04-24 14:23:14 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:14 [debug] Diagnostics for board 50:
2025-04-24 14:23:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:25:18 ago, cause: software
2025-04-24 14:23:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:14 [debug] Moves scheduled 28472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3541769727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:14 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19013, writes 0 timeouts 0
2025-04-24 14:23:14 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36337/37156
2025-04-24 14:23:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:14 [info] currentZPosition:0.0235
2025-04-24 14:23:15 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:15 [debug] Diagnostics for board 50:
2025-04-24 14:23:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:20 ago, cause: software
2025-04-24 14:23:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:15 [debug] Moves scheduled 28476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3540726930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:15 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17462, writes 0 timeouts 0
2025-04-24 14:23:15 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35684/37117
2025-04-24 14:23:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:15 [info] currentZPosition:0.0227
2025-04-24 14:23:16 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:16 [debug] Diagnostics for board 50:
2025-04-24 14:23:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:21 ago, cause: software
2025-04-24 14:23:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:16 [debug] Moves scheduled 28480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3539586865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:16 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19119, writes 0 timeouts 0
2025-04-24 14:23:16 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36159/37119
2025-04-24 14:23:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:17 [info] currentZPosition:0.0228
2025-04-24 14:23:18 [debug] Stopped at height 0.021 mm
2025-04-24 14:23:18 [debug] Diagnostics for board 50:
2025-04-24 14:23:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:25:23 ago, cause: software
2025-04-24 14:23:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:18 [debug] Moves scheduled 28484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3538533502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:18 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17676, writes 0 timeouts 0
2025-04-24 14:23:18 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35885/37117
2025-04-24 14:23:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:18 [info] currentZPosition:0.0213
2025-04-24 14:23:18 [debug] Stopped at height 0.019 mm
2025-04-24 14:23:19 [debug] Stopped at height 0.018 mm
2025-04-24 14:23:20 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:20 [debug] Diagnostics for board 50:
2025-04-24 14:23:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:25 ago, cause: software
2025-04-24 14:23:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:20 [debug] Moves scheduled 28492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3536919154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:23:20 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27053, writes 0 timeouts 0
2025-04-24 14:23:20 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36050/37106
2025-04-24 14:23:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:20 [info] currentZPosition:0.0223
2025-04-24 14:23:20 [debug] Stopped at height 0.020 mm
2025-04-24 14:23:21 [debug] Stopped at height 0.018 mm
2025-04-24 14:23:22 [debug] Stopped at height 0.020 mm
2025-04-24 14:23:22 [debug] Diagnostics for board 50:
2025-04-24 14:23:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:27 ago, cause: software
2025-04-24 14:23:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:22 [debug] Moves scheduled 28500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3535374049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:23:22 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25922, writes 0 timeouts 0
2025-04-24 14:23:22 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36145/37132
2025-04-24 14:23:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:22 [info] currentZPosition:0.0200
2025-04-24 14:23:23 [debug] Stopped at height 0.018 mm
2025-04-24 14:23:24 [debug] Stopped at height 0.021 mm
2025-04-24 14:23:24 [debug] Diagnostics for board 50:
2025-04-24 14:23:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:29 ago, cause: software
2025-04-24 14:23:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:24 [debug] Moves scheduled 28506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3534021186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:24 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22721, writes 0 timeouts 0
2025-04-24 14:23:24 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35875/37128
2025-04-24 14:23:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:24 [info] currentZPosition:0.0207
2025-04-24 14:23:24 [debug] Stopped at height 0.019 mm
2025-04-24 14:23:26 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:26 [debug] Diagnostics for board 50:
2025-04-24 14:23:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:25:30 ago, cause: software
2025-04-24 14:23:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:26 [debug] Moves scheduled 28512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 111, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3532781854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:26 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20748, writes 0 timeouts 0
2025-04-24 14:23:26 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36276/37146
2025-04-24 14:23:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:26 [info] currentZPosition:0.0219
2025-04-24 14:23:26 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:27 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:27 [debug] Diagnostics for board 50:
2025-04-24 14:23:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:32 ago, cause: software
2025-04-24 14:23:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:27 [debug] Moves scheduled 28518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3531424470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:27 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22777, writes 0 timeouts 0
2025-04-24 14:23:27 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 410, adv 35724/37174
2025-04-24 14:23:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:27 [info] currentZPosition:0.0229
2025-04-24 14:23:29 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:29 [debug] Diagnostics for board 50:
2025-04-24 14:23:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:34 ago, cause: software
2025-04-24 14:23:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:29 [debug] Moves scheduled 28522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3530405965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:29 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17078, writes 0 timeouts 0
2025-04-24 14:23:29 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35780/37109
2025-04-24 14:23:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:29 [info] currentZPosition:0.0234
2025-04-24 14:23:30 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:30 [debug] Diagnostics for board 50:
2025-04-24 14:23:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:35 ago, cause: software
2025-04-24 14:23:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:30 [debug] Moves scheduled 28526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3529256719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:30 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19287, writes 0 timeouts 0
2025-04-24 14:23:30 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36375/37152
2025-04-24 14:23:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:30 [info] currentZPosition:0.0230
2025-04-24 14:23:32 [debug] Stopped at height 0.024 mm
2025-04-24 14:23:32 [debug] Diagnostics for board 50:
2025-04-24 14:23:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:36 ago, cause: software
2025-04-24 14:23:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:32 [debug] Moves scheduled 28530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3528239945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:32 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17051, writes 0 timeouts 0
2025-04-24 14:23:32 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36005/37097
2025-04-24 14:23:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:32 [info] currentZPosition:0.0236
2025-04-24 14:23:33 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:33 [debug] Diagnostics for board 50:
2025-04-24 14:23:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:38 ago, cause: software
2025-04-24 14:23:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:33 [debug] Moves scheduled 28534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3527077868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:33 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19472, writes 0 timeouts 0
2025-04-24 14:23:33 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36193/37124
2025-04-24 14:23:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:33 [info] currentZPosition:0.0223
2025-04-24 14:23:34 [debug] Stopped at height 0.021 mm
2025-04-24 14:23:35 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:35 [debug] Diagnostics for board 50:
2025-04-24 14:23:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:40 ago, cause: software
2025-04-24 14:23:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:35 [debug] Moves scheduled 28540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 61, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3525826357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 14:23:35 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20998, writes 0 timeouts 0
2025-04-24 14:23:35 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36198/37140
2025-04-24 14:23:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:35 [info] currentZPosition:0.0233
2025-04-24 14:23:35 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:37 [debug] Stopped at height 0.024 mm
2025-04-24 14:23:37 [debug] Diagnostics for board 50:
2025-04-24 14:23:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:41 ago, cause: software
2025-04-24 14:23:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:37 [debug] Moves scheduled 28546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3524460183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:23:37 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22923, writes 0 timeouts 0
2025-04-24 14:23:37 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36041/37102
2025-04-24 14:23:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:37 [info] currentZPosition:0.0237
2025-04-24 14:23:38 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:38 [debug] Diagnostics for board 50:
2025-04-24 14:23:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:43 ago, cause: software
2025-04-24 14:23:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:38 [debug] Moves scheduled 28550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 97, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3523421899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:23:38 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17435, writes 0 timeouts 0
2025-04-24 14:23:38 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36340/37082
2025-04-24 14:23:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:38 [info] currentZPosition:0.0232
2025-04-24 14:23:40 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:40 [debug] Diagnostics for board 50:
2025-04-24 14:23:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:44 ago, cause: software
2025-04-24 14:23:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:40 [debug] Moves scheduled 28554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3522277268 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:40 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19166, writes 0 timeouts 0
2025-04-24 14:23:40 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35871/37119
2025-04-24 14:23:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:40 [info] currentZPosition:0.0229
2025-04-24 14:23:41 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:41 [debug] Diagnostics for board 50:
2025-04-24 14:23:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:46 ago, cause: software
2025-04-24 14:23:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:41 [debug] Moves scheduled 28558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 122, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3521255930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:41 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 0 timeouts 0
2025-04-24 14:23:41 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35818/37117
2025-04-24 14:23:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:41 [info] currentZPosition:0.0233
2025-04-24 14:23:42 [debug] Stopped at height 0.021 mm
2025-04-24 14:23:42 [debug] Diagnostics for board 50:
2025-04-24 14:23:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:47 ago, cause: software
2025-04-24 14:23:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:42 [debug] Moves scheduled 28562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 125, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3520079423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:42 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19719, writes 0 timeouts 0
2025-04-24 14:23:42 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35717/37093
2025-04-24 14:23:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:43 [info] currentZPosition:0.0211
2025-04-24 14:23:43 [debug] Stopped at height 0.020 mm
2025-04-24 14:23:44 [debug] Stopped at height 0.021 mm
2025-04-24 14:23:44 [debug] Diagnostics for board 50:
2025-04-24 14:23:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:49 ago, cause: software
2025-04-24 14:23:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:44 [debug] Moves scheduled 28568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3518802340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, ma
2025-04-24 14:23:44 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21420, writes 0 timeouts 0
2025-04-24 14:23:44 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36023/37108
2025-04-24 14:23:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:44 [info] currentZPosition:0.0206
2025-04-24 14:23:46 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:46 [debug] Diagnostics for board 50:
2025-04-24 14:23:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:50 ago, cause: software
2025-04-24 14:23:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:46 [debug] Moves scheduled 28572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter -3/-2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3517711283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:23:46 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18295, writes 0 timeouts 0
2025-04-24 14:23:46 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36351/37109
2025-04-24 14:23:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:46 [info] currentZPosition:0.0231
2025-04-24 14:23:46 [debug] Stopped at height 0.022 mm
2025-04-24 14:23:47 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:47 [debug] Diagnostics for board 50:
2025-04-24 14:23:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:52 ago, cause: software
2025-04-24 14:23:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:47 [debug] Moves scheduled 28578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -4/-2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3516449708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:23:47 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21155, writes 0 timeouts 0
2025-04-24 14:23:47 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36197/37120
2025-04-24 14:23:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:47 [info] currentZPosition:0.0232
2025-04-24 14:23:49 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:49 [debug] Diagnostics for board 50:
2025-04-24 14:23:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:54 ago, cause: software
2025-04-24 14:23:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:49 [debug] Moves scheduled 28582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3515314663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:49 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19047, writes 0 timeouts 0
2025-04-24 14:23:49 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36202/37139
2025-04-24 14:23:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:49 [info] currentZPosition:0.0232
2025-04-24 14:23:50 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:50 [debug] Diagnostics for board 50:
2025-04-24 14:23:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:55 ago, cause: software
2025-04-24 14:23:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:50 [debug] Moves scheduled 28586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3514283889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:23:50 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17286, writes 0 timeouts 0
2025-04-24 14:23:50 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35665/37125
2025-04-24 14:23:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:50 [info] currentZPosition:0.0230
2025-04-24 14:23:52 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:52 [debug] Diagnostics for board 50:
2025-04-24 14:23:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:25:57 ago, cause: software
2025-04-24 14:23:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:52 [debug] Moves scheduled 28590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3513144218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:23:52 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19130, writes 0 timeouts 0
2025-04-24 14:23:52 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36008/37119
2025-04-24 14:23:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:52 [info] currentZPosition:0.0231
2025-04-24 14:23:53 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:53 [debug] Diagnostics for board 50:
2025-04-24 14:23:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:58 ago, cause: software
2025-04-24 14:23:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:53 [debug] Moves scheduled 28594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3512119084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:53 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17171, writes 0 timeouts 0
2025-04-24 14:23:53 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 35832/37129
2025-04-24 14:23:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:53 [info] currentZPosition:0.0232
2025-04-24 14:23:55 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:55 [debug] Diagnostics for board 50:
2025-04-24 14:23:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:25:59 ago, cause: software
2025-04-24 14:23:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:55 [debug] Moves scheduled 28598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3510971191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:23:55 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19254, writes 0 timeouts 0
2025-04-24 14:23:55 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35867/37080
2025-04-24 14:23:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:55 [info] currentZPosition:0.0227
2025-04-24 14:23:56 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:56 [debug] Diagnostics for board 50:
2025-04-24 14:23:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:01 ago, cause: software
2025-04-24 14:23:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:56 [debug] Moves scheduled 28602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 113, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3509958528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:23:56 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16975, writes 0 timeouts 0
2025-04-24 14:23:56 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 36030/37078
2025-04-24 14:23:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:56 [info] currentZPosition:0.0235
2025-04-24 14:23:57 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:57 [debug] Diagnostics for board 50:
2025-04-24 14:23:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:02 ago, cause: software
2025-04-24 14:23:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:57 [debug] Moves scheduled 28606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3508817473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:23:57 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19135, writes 0 timeouts 0
2025-04-24 14:23:57 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35687/37073
2025-04-24 14:23:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:58 [info] currentZPosition:0.0234
2025-04-24 14:23:59 [debug] Stopped at height 0.023 mm
2025-04-24 14:23:59 [debug] Diagnostics for board 50:
2025-04-24 14:23:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:23:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:04 ago, cause: software
2025-04-24 14:23:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:23:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:23:59 [debug] Moves scheduled 28610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15625
Sync err accum 109, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3507786230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:23:59 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17299, writes 0 timeouts 0
2025-04-24 14:23:59 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36270/37138
2025-04-24 14:23:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:23:59 [info] currentZPosition:0.0232
2025-04-24 14:24:00 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:00 [debug] Diagnostics for board 50:
2025-04-24 14:24:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:05 ago, cause: software
2025-04-24 14:24:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:00 [debug] Moves scheduled 28614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 100, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3506655239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:24:00 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18962, writes 0 timeouts 0
2025-04-24 14:24:00 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36265/37161
2025-04-24 14:24:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:00 [info] currentZPosition:0.0235
2025-04-24 14:24:02 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:02 [debug] Diagnostics for board 50:
2025-04-24 14:24:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:07 ago, cause: software
2025-04-24 14:24:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:02 [debug] Moves scheduled 28618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3505630266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 
2025-04-24 14:24:02 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17190, writes 0 timeouts 0
2025-04-24 14:24:02 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35749/37127
2025-04-24 14:24:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:02 [info] currentZPosition:0.0235
2025-04-24 14:24:03 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:03 [debug] Diagnostics for board 50:
2025-04-24 14:24:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:08 ago, cause: software
2025-04-24 14:24:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:03 [debug] Moves scheduled 28622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 81, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3504496962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max
2025-04-24 14:24:03 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19013, writes 0 timeouts 0
2025-04-24 14:24:03 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36147/37130
2025-04-24 14:24:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:03 [info] currentZPosition:0.0237
2025-04-24 14:24:05 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:05 [debug] Diagnostics for board 50:
2025-04-24 14:24:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:09 ago, cause: software
2025-04-24 14:24:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:05 [debug] Moves scheduled 28626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 3503451571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:24:05 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17513, writes 0 timeouts 0
2025-04-24 14:24:05 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35914/37160
2025-04-24 14:24:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:05 [info] currentZPosition:0.0228
2025-04-24 14:24:06 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:06 [debug] Diagnostics for board 50:
2025-04-24 14:24:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:11 ago, cause: software
2025-04-24 14:24:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:06 [debug] Moves scheduled 28630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 59, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3502353588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:24:06 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18423, writes 0 timeouts 0
2025-04-24 14:24:06 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35998/37170
2025-04-24 14:24:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8756, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:06 [info] currentZPosition:0.0246
2025-04-24 14:24:07 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:08 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:08 [debug] Diagnostics for board 50:
2025-04-24 14:24:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:13 ago, cause: software
2025-04-24 14:24:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:08 [debug] Moves scheduled 28636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter 2/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3501075015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:24:08 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21452, writes 0 timeouts 0
2025-04-24 14:24:08 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36360/37112
2025-04-24 14:24:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:08 [info] currentZPosition:0.0235
2025-04-24 14:24:09 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:09 [debug] Diagnostics for board 50:
2025-04-24 14:24:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:14 ago, cause: software
2025-04-24 14:24:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:09 [debug] Moves scheduled 28640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3499939447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:24:09 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19044, writes 0 timeouts 0
2025-04-24 14:24:09 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35828/37117
2025-04-24 14:24:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:09 [info] currentZPosition:0.0236
2025-04-24 14:24:11 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:11 [debug] Diagnostics for board 50:
2025-04-24 14:24:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:16 ago, cause: software
2025-04-24 14:24:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:11 [debug] Moves scheduled 28644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 103, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3498921851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:11 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17078, writes 0 timeouts 0
2025-04-24 14:24:11 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36070/37100
2025-04-24 14:24:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:11 [info] currentZPosition:0.0240
2025-04-24 14:24:12 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:12 [debug] Diagnostics for board 50:
2025-04-24 14:24:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:17 ago, cause: software
2025-04-24 14:24:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:12 [debug] Moves scheduled 28648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=10000, max=15000
Sync err accum 110, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3497763023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:24:12 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19410, writes 0 timeouts 0
2025-04-24 14:24:12 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35646/37102
2025-04-24 14:24:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8895, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:12 [info] currentZPosition:0.0226
2025-04-24 14:24:13 [debug] Stopped at height 0.021 mm
2025-04-24 14:24:13 [debug] Stopped at height 0.020 mm
2025-04-24 14:24:14 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:14 [debug] Diagnostics for board 50:
2025-04-24 14:24:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:19 ago, cause: software
2025-04-24 14:24:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:14 [debug] Moves scheduled 28656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 115, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3496283050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:24:14 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24840, writes 0 timeouts 0
2025-04-24 14:24:14 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36245/37143
2025-04-24 14:24:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:14 [info] currentZPosition:0.0241
2025-04-24 14:24:15 [debug] Stopped at height 0.021 mm
2025-04-24 14:24:16 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:16 [debug] Diagnostics for board 50:
2025-04-24 14:24:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:21 ago, cause: software
2025-04-24 14:24:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:16 [debug] Moves scheduled 28662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 115, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3494910530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:24:16 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23037, writes 0 timeouts 0
2025-04-24 14:24:16 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36306/37151
2025-04-24 14:24:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:16 [info] currentZPosition:0.0239
2025-04-24 14:24:16 [debug] Stopped at height 0.022 mm
2025-04-24 14:24:18 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:18 [debug] Diagnostics for board 50:
2025-04-24 14:24:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:23 ago, cause: software
2025-04-24 14:24:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:18 [debug] Moves scheduled 28668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 109, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3493647478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:24:18 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21158, writes 0 timeouts 0
2025-04-24 14:24:18 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35721/37164
2025-04-24 14:24:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:18 [info] currentZPosition:0.0236
2025-04-24 14:24:18 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:20 [debug] Stopped at height 0.022 mm
2025-04-24 14:24:20 [debug] Diagnostics for board 50:
2025-04-24 14:24:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:26:24 ago, cause: software
2025-04-24 14:24:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:20 [debug] Moves scheduled 28674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 98, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3492261730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:20 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23237, writes 0 timeouts 0
2025-04-24 14:24:20 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36112/37162
2025-04-24 14:24:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:20 [info] currentZPosition:0.0224
2025-04-24 14:24:21 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:21 [debug] Diagnostics for board 50:
2025-04-24 14:24:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:26:26 ago, cause: software
2025-04-24 14:24:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:21 [debug] Moves scheduled 28678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3491258410 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:24:21 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16860, writes 0 timeouts 0
2025-04-24 14:24:21 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35910/37166
2025-04-24 14:24:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8796, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:21 [info] currentZPosition:0.0236
2025-04-24 14:24:22 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:22 [debug] Diagnostics for board 50:
2025-04-24 14:24:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:27 ago, cause: software
2025-04-24 14:24:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:22 [debug] Moves scheduled 28682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3490125283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:24:22 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18976, writes 0 timeouts 0
2025-04-24 14:24:22 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35972/37126
2025-04-24 14:24:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:22 [info] currentZPosition:0.0238
2025-04-24 14:24:24 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:24 [debug] Diagnostics for board 50:
2025-04-24 14:24:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:29 ago, cause: software
2025-04-24 14:24:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:24 [debug] Moves scheduled 28686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3489103061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:24:24 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17132, writes 0 timeouts 0
2025-04-24 14:24:24 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36130/37155
2025-04-24 14:24:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:24 [info] currentZPosition:0.0241
2025-04-24 14:24:25 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:25 [debug] Diagnostics for board 50:
2025-04-24 14:24:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:26:30 ago, cause: software
2025-04-24 14:24:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:25 [debug] Moves scheduled 28690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 77, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3487966985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:24:25 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19156, writes 0 timeouts 0
2025-04-24 14:24:25 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 35842/37120
2025-04-24 14:24:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:25 [info] currentZPosition:0.0239
2025-04-24 14:24:27 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:27 [debug] Diagnostics for board 50:
2025-04-24 14:24:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:32 ago, cause: software
2025-04-24 14:24:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:27 [debug] Moves scheduled 28694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 91, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3486946319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:24:27 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17013, writes 0 timeouts 0
2025-04-24 14:24:27 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36400/37122
2025-04-24 14:24:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8765, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:27 [info] currentZPosition:0.0247
2025-04-24 14:24:28 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:28 [debug] Diagnostics for board 50:
2025-04-24 14:24:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:33 ago, cause: software
2025-04-24 14:24:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:28 [debug] Moves scheduled 28698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 103, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3485801144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:28 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19211, writes 0 timeouts 0
2025-04-24 14:24:28 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35678/37120
2025-04-24 14:24:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:28 [info] currentZPosition:0.0242
2025-04-24 14:24:30 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:30 [debug] Diagnostics for board 50:
2025-04-24 14:24:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:34 ago, cause: software
2025-04-24 14:24:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:30 [debug] Moves scheduled 28702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3484768633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:30 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17334, writes 0 timeouts 0
2025-04-24 14:24:30 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35821/37153
2025-04-24 14:24:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:30 [info] currentZPosition:0.0238
2025-04-24 14:24:31 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:31 [debug] Diagnostics for board 50:
2025-04-24 14:24:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:26:36 ago, cause: software
2025-04-24 14:24:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:31 [debug] Moves scheduled 28706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=8823, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3483643522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:24:31 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18862, writes 0 timeouts 0
2025-04-24 14:24:31 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36273/37114
2025-04-24 14:24:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8789, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:31 [info] currentZPosition:0.0243
2025-04-24 14:24:32 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:32 [debug] Diagnostics for board 50:
2025-04-24 14:24:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:37 ago, cause: software
2025-04-24 14:24:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:32 [debug] Moves scheduled 28710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3482599437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:24:32 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17498, writes 0 timeouts 0
2025-04-24 14:24:32 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 35999/37131
2025-04-24 14:24:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:33 [info] currentZPosition:0.0232
2025-04-24 14:24:34 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:34 [debug] Diagnostics for board 50:
2025-04-24 14:24:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:39 ago, cause: software
2025-04-24 14:24:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:34 [debug] Moves scheduled 28714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 106, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3481481621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:24:34 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18761, writes 0 timeouts 0
2025-04-24 14:24:34 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36054/37121
2025-04-24 14:24:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:34 [info] currentZPosition:0.0240
2025-04-24 14:24:35 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:35 [debug] Diagnostics for board 50:
2025-04-24 14:24:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:40 ago, cause: software
2025-04-24 14:24:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:35 [debug] Moves scheduled 28718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3480443915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:24:35 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17380, writes 0 timeouts 0
2025-04-24 14:24:35 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36212/37102
2025-04-24 14:24:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:35 [info] currentZPosition:0.0233
2025-04-24 14:24:37 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:37 [debug] Diagnostics for board 50:
2025-04-24 14:24:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:26:42 ago, cause: software
2025-04-24 14:24:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:37 [debug] Moves scheduled 28722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3479350301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:24:37 [debug] Driver 0: pos -3458, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18347, writes 0 timeouts 0
2025-04-24 14:24:37 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35941/37113
2025-04-24 14:24:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8773, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:37 [info] currentZPosition:0.0252
2025-04-24 14:24:37 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:38 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:38 [debug] Diagnostics for board 50:
2025-04-24 14:24:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:43 ago, cause: software
2025-04-24 14:24:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:38 [debug] Moves scheduled 28728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3478066490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:24:38 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21538, writes 0 timeouts 0
2025-04-24 14:24:38 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35690/37127
2025-04-24 14:24:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8799, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:39 [info] currentZPosition:0.0239
2025-04-24 14:24:40 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:40 [debug] Diagnostics for board 50:
2025-04-24 14:24:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:45 ago, cause: software
2025-04-24 14:24:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:40 [debug] Moves scheduled 28732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 61, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3476914484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:24:40 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19315, writes 0 timeouts 0
2025-04-24 14:24:40 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35751/37163
2025-04-24 14:24:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:40 [info] currentZPosition:0.0226
2025-04-24 14:24:40 [debug] Stopped at height 0.021 mm
2025-04-24 14:24:42 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:42 [debug] Diagnostics for board 50:
2025-04-24 14:24:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:47 ago, cause: software
2025-04-24 14:24:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:42 [debug] Moves scheduled 28738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter -1/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3475676484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:42 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20768, writes 0 timeouts 0
2025-04-24 14:24:42 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35905/37093
2025-04-24 14:24:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:42 [info] currentZPosition:0.0243
2025-04-24 14:24:42 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:43 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:43 [debug] Diagnostics for board 50:
2025-04-24 14:24:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:48 ago, cause: software
2025-04-24 14:24:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:43 [debug] Moves scheduled 28744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3474291828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:24:43 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23213, writes 0 timeouts 0
2025-04-24 14:24:43 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35577/37147
2025-04-24 14:24:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:44 [info] currentZPosition:0.0233
2025-04-24 14:24:45 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:45 [debug] Diagnostics for board 50:
2025-04-24 14:24:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:50 ago, cause: software
2025-04-24 14:24:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:45 [debug] Moves scheduled 28748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3473311887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:24:45 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16433, writes 0 timeouts 0
2025-04-24 14:24:45 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36042/37116
2025-04-24 14:24:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8764, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:45 [info] currentZPosition:0.0254
2025-04-24 14:24:45 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:47 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:47 [debug] Diagnostics for board 50:
2025-04-24 14:24:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:52 ago, cause: software
2025-04-24 14:24:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:47 [debug] Moves scheduled 28754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3471924864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:47 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23268, writes 0 timeouts 0
2025-04-24 14:24:47 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36258/37123
2025-04-24 14:24:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:47 [info] currentZPosition:0.0243
2025-04-24 14:24:48 [debug] Stopped at height 0.022 mm
2025-04-24 14:24:48 [debug] Diagnostics for board 50:
2025-04-24 14:24:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:26:53 ago, cause: software
2025-04-24 14:24:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:48 [debug] Moves scheduled 28758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 90, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3470859046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:24:48 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17874, writes 0 timeouts 0
2025-04-24 14:24:48 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36275/37093
2025-04-24 14:24:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:48 [info] currentZPosition:0.0220
2025-04-24 14:24:49 [debug] Stopped at height 0.021 mm
2025-04-24 14:24:50 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:50 [debug] Diagnostics for board 50:
2025-04-24 14:24:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:55 ago, cause: software
2025-04-24 14:24:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:50 [debug] Moves scheduled 28764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3469539711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:50 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22134, writes 0 timeouts 0
2025-04-24 14:24:50 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36060/37151
2025-04-24 14:24:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8793, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:50 [info] currentZPosition:0.0249
2025-04-24 14:24:50 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:51 [debug] Stopped at height 0.022 mm
2025-04-24 14:24:52 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:52 [debug] Diagnostics for board 50:
2025-04-24 14:24:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:57 ago, cause: software
2025-04-24 14:24:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:52 [debug] Moves scheduled 28772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3468024764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:24:52 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25408, writes 0 timeouts 0
2025-04-24 14:24:52 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35760/37133
2025-04-24 14:24:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:52 [info] currentZPosition:0.0246
2025-04-24 14:24:52 [debug] Stopped at height 0.022 mm
2025-04-24 14:24:54 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:54 [debug] Diagnostics for board 50:
2025-04-24 14:24:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:26:59 ago, cause: software
2025-04-24 14:24:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:54 [debug] Moves scheduled 28778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 66, peak jitter -3/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3466676583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:24:54 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22595, writes 0 timeouts 0
2025-04-24 14:24:54 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35888/37118
2025-04-24 14:24:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8755, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:54 [info] currentZPosition:0.0254
2025-04-24 14:24:54 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:55 [debug] Stopped at height 0.026 mm
2025-04-24 14:24:55 [debug] Diagnostics for board 50:
2025-04-24 14:24:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:00 ago, cause: software
2025-04-24 14:24:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:55 [debug] Moves scheduled 28784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 76, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3465421151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:24:55 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21047, writes 0 timeouts 0
2025-04-24 14:24:55 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35918/37143
2025-04-24 14:24:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:55 [info] currentZPosition:0.0255
2025-04-24 14:24:56 [debug] Stopped at height 0.024 mm
2025-04-24 14:24:57 [debug] Stopped at height 0.023 mm
2025-04-24 14:24:57 [debug] Diagnostics for board 50:
2025-04-24 14:24:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:27:02 ago, cause: software
2025-04-24 14:24:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:57 [debug] Moves scheduled 28790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3464015437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:24:57 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23581, writes 0 timeouts 0
2025-04-24 14:24:57 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 35734/37136
2025-04-24 14:24:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:57 [info] currentZPosition:0.0232
2025-04-24 14:24:59 [debug] Stopped at height 0.025 mm
2025-04-24 14:24:59 [debug] Diagnostics for board 50:
2025-04-24 14:24:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:24:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:27:03 ago, cause: software
2025-04-24 14:24:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:24:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:24:59 [debug] Moves scheduled 28794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3463026954 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:24:59 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16595, writes 0 timeouts 0
2025-04-24 14:24:59 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36065/37169
2025-04-24 14:24:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:24:59 [info] currentZPosition:0.0251
2025-04-24 14:24:59 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:00 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:00 [debug] Diagnostics for board 50:
2025-04-24 14:25:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:05 ago, cause: software
2025-04-24 14:25:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:00 [debug] Moves scheduled 28800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3461658061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:00 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22997, writes 0 timeouts 0
2025-04-24 14:25:00 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36301/37090
2025-04-24 14:25:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:00 [info] currentZPosition:0.0252
2025-04-24 14:25:02 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:02 [debug] Diagnostics for board 50:
2025-04-24 14:25:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:07 ago, cause: software
2025-04-24 14:25:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:02 [debug] Moves scheduled 28804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3460613712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:02 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17489, writes 0 timeouts 0
2025-04-24 14:25:02 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36261/37149
2025-04-24 14:25:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:02 [info] currentZPosition:0.0245
2025-04-24 14:25:03 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:03 [debug] Diagnostics for board 50:
2025-04-24 14:25:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:08 ago, cause: software
2025-04-24 14:25:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:03 [debug] Moves scheduled 28808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3459491762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:03 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18809, writes 0 timeouts 0
2025-04-24 14:25:03 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36180/37127
2025-04-24 14:25:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:03 [info] currentZPosition:0.0249
2025-04-24 14:25:05 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:05 [debug] Diagnostics for board 50:
2025-04-24 14:25:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:09 ago, cause: software
2025-04-24 14:25:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:05 [debug] Moves scheduled 28812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3458463167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:25:05 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17270, writes 0 timeouts 0
2025-04-24 14:25:05 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35797/37118
2025-04-24 14:25:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8783, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:05 [info] currentZPosition:0.0248
2025-04-24 14:25:06 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:06 [debug] Diagnostics for board 50:
2025-04-24 14:25:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:11 ago, cause: software
2025-04-24 14:25:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:06 [debug] Moves scheduled 28816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3457339481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:25:06 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18833, writes 0 timeouts 0
2025-04-24 14:25:06 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35944/37170
2025-04-24 14:25:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:06 [info] currentZPosition:0.0250
2025-04-24 14:25:07 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:07 [debug] Diagnostics for board 50:
2025-04-24 14:25:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:12 ago, cause: software
2025-04-24 14:25:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:07 [debug] Moves scheduled 28820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 74, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3456331886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.4C, max 3
2025-04-24 14:25:07 [debug] Driver 0: pos -3455, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16904, writes 0 timeouts 0
2025-04-24 14:25:07 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35669/37144
2025-04-24 14:25:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8736, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:08 [info] currentZPosition:0.0260
2025-04-24 14:25:09 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:09 [debug] Diagnostics for board 50:
2025-04-24 14:25:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:14 ago, cause: software
2025-04-24 14:25:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:09 [debug] Moves scheduled 28824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3455140453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:09 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20017, writes 0 timeouts 0
2025-04-24 14:25:09 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35804/37147
2025-04-24 14:25:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:09 [info] currentZPosition:0.0226
2025-04-24 14:25:09 [debug] Stopped at height 0.021 mm
2025-04-24 14:25:11 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:11 [debug] Diagnostics for board 50:
2025-04-24 14:25:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:16 ago, cause: software
2025-04-24 14:25:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:11 [debug] Moves scheduled 28830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 3453899524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:11 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20749, writes 0 timeouts 0
2025-04-24 14:25:11 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36214/37127
2025-04-24 14:25:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:11 [info] currentZPosition:0.0242
2025-04-24 14:25:11 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:13 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:13 [debug] Diagnostics for board 50:
2025-04-24 14:25:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:27:17 ago, cause: software
2025-04-24 14:25:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:13 [debug] Moves scheduled 28836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3452528825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:13 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22985, writes 0 timeouts 0
2025-04-24 14:25:13 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35644/37147
2025-04-24 14:25:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:13 [info] currentZPosition:0.0234
2025-04-24 14:25:14 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:14 [debug] Diagnostics for board 50:
2025-04-24 14:25:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:27:19 ago, cause: software
2025-04-24 14:25:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:14 [debug] Moves scheduled 28840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3451544533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:25:14 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16528, writes 0 timeouts 0
2025-04-24 14:25:14 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35691/37090
2025-04-24 14:25:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8797, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:14 [info] currentZPosition:0.0255
2025-04-24 14:25:14 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:16 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:16 [debug] Diagnostics for board 50:
2025-04-24 14:25:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:21 ago, cause: software
2025-04-24 14:25:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:16 [debug] Moves scheduled 28846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3450166112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 14:25:16 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23103, writes 0 timeouts 0
2025-04-24 14:25:16 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36256/37130
2025-04-24 14:25:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:16 [info] currentZPosition:0.0247
2025-04-24 14:25:17 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:17 [debug] Diagnostics for board 50:
2025-04-24 14:25:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:22 ago, cause: software
2025-04-24 14:25:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:17 [debug] Moves scheduled 28850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3449134273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:17 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17309, writes 0 timeouts 0
2025-04-24 14:25:17 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35937/37090
2025-04-24 14:25:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:17 [info] currentZPosition:0.0247
2025-04-24 14:25:19 [debug] Stopped at height 0.022 mm
2025-04-24 14:25:19 [debug] Diagnostics for board 50:
2025-04-24 14:25:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:27:23 ago, cause: software
2025-04-24 14:25:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:19 [debug] Moves scheduled 28854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3447965089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:19 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19634, writes 0 timeouts 0
2025-04-24 14:25:19 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36057/37127
2025-04-24 14:25:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:19 [info] currentZPosition:0.0224
2025-04-24 14:25:19 [debug] Stopped at height 0.021 mm
2025-04-24 14:25:20 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:20 [debug] Diagnostics for board 50:
2025-04-24 14:25:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:25 ago, cause: software
2025-04-24 14:25:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:20 [debug] Moves scheduled 28860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3446742719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:20 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20475, writes 0 timeouts 0
2025-04-24 14:25:20 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36095/37168
2025-04-24 14:25:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:20 [info] currentZPosition:0.0249
2025-04-24 14:25:21 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:22 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:22 [debug] Diagnostics for board 50:
2025-04-24 14:25:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:27 ago, cause: software
2025-04-24 14:25:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:22 [debug] Moves scheduled 28866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3445372601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:25:22 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22974, writes 0 timeouts 0
2025-04-24 14:25:22 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35972/37123
2025-04-24 14:25:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:22 [info] currentZPosition:0.0244
2025-04-24 14:25:23 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:23 [debug] Diagnostics for board 50:
2025-04-24 14:25:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:27:28 ago, cause: software
2025-04-24 14:25:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:23 [debug] Moves scheduled 28870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3444366679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:25:23 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16877, writes 0 timeouts 0
2025-04-24 14:25:23 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36305/37083
2025-04-24 14:25:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:23 [info] currentZPosition:0.0254
2025-04-24 14:25:25 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:25 [debug] Diagnostics for board 50:
2025-04-24 14:25:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:30 ago, cause: software
2025-04-24 14:25:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:25 [debug] Moves scheduled 28874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3443238526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:25:25 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18937, writes 0 timeouts 0
2025-04-24 14:25:25 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35802/37112
2025-04-24 14:25:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8774, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:25 [info] currentZPosition:0.0254
2025-04-24 14:25:26 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:26 [debug] Diagnostics for board 50:
2025-04-24 14:25:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:27:31 ago, cause: software
2025-04-24 14:25:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:26 [debug] Moves scheduled 28878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3442224351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:25:26 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17018, writes 0 timeouts 0
2025-04-24 14:25:26 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35783/37114
2025-04-24 14:25:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:26 [info] currentZPosition:0.0262
2025-04-24 14:25:28 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:28 [debug] Diagnostics for board 50:
2025-04-24 14:25:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:27:33 ago, cause: software
2025-04-24 14:25:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:28 [debug] Moves scheduled 28882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3441041992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:25:28 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19810, writes 0 timeouts 0
2025-04-24 14:25:28 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36356/37147
2025-04-24 14:25:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:28 [info] currentZPosition:0.0234
2025-04-24 14:25:28 [debug] Stopped at height 0.022 mm
2025-04-24 14:25:29 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:29 [debug] Diagnostics for board 50:
2025-04-24 14:25:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:34 ago, cause: software
2025-04-24 14:25:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:29 [debug] Moves scheduled 28888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3439801244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:29 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20816, writes 0 timeouts 0
2025-04-24 14:25:29 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35890/37121
2025-04-24 14:25:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:30 [info] currentZPosition:0.0249
2025-04-24 14:25:30 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:31 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:31 [debug] Diagnostics for board 50:
2025-04-24 14:25:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:36 ago, cause: software
2025-04-24 14:25:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:31 [debug] Moves scheduled 28894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3438421842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:25:31 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23124, writes 0 timeouts 0
2025-04-24 14:25:31 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36154/37163
2025-04-24 14:25:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:31 [info] currentZPosition:0.0240
2025-04-24 14:25:33 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:33 [debug] Diagnostics for board 50:
2025-04-24 14:25:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:27:38 ago, cause: software
2025-04-24 14:25:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:33 [debug] Moves scheduled 28898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3437428342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:25:33 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16666, writes 0 timeouts 0
2025-04-24 14:25:33 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36173/37163
2025-04-24 14:25:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:33 [info] currentZPosition:0.0258
2025-04-24 14:25:33 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:34 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:34 [debug] Diagnostics for board 50:
2025-04-24 14:25:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:39 ago, cause: software
2025-04-24 14:25:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:34 [debug] Moves scheduled 28904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3436068640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:34 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22806, writes 0 timeouts 0
2025-04-24 14:25:34 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36039/37113
2025-04-24 14:25:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:35 [info] currentZPosition:0.0261
2025-04-24 14:25:36 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:36 [debug] Diagnostics for board 50:
2025-04-24 14:25:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:41 ago, cause: software
2025-04-24 14:25:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:36 [debug] Moves scheduled 28908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 73, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3435003527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:25:36 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17858, writes 0 timeouts 0
2025-04-24 14:25:36 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36303/37085
2025-04-24 14:25:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:36 [info] currentZPosition:0.0243
2025-04-24 14:25:36 [debug] Stopped at height 0.022 mm
2025-04-24 14:25:37 [debug] Stopped at height 0.021 mm
2025-04-24 14:25:38 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:38 [debug] Diagnostics for board 50:
2025-04-24 14:25:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:43 ago, cause: software
2025-04-24 14:25:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:38 [debug] Moves scheduled 28916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3433368285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:38 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27438, writes 0 timeouts 0
2025-04-24 14:25:38 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35899/37119
2025-04-24 14:25:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:38 [info] currentZPosition:0.0230
2025-04-24 14:25:39 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:39 [debug] Diagnostics for board 50:
2025-04-24 14:25:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:27:44 ago, cause: software
2025-04-24 14:25:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:39 [debug] Moves scheduled 28920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3432388192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:39 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16422, writes 0 timeouts 0
2025-04-24 14:25:39 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 35790/37126
2025-04-24 14:25:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8779, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:39 [info] currentZPosition:0.0255
2025-04-24 14:25:40 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:41 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:41 [debug] Diagnostics for board 50:
2025-04-24 14:25:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:46 ago, cause: software
2025-04-24 14:25:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:41 [debug] Moves scheduled 28926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3431009710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:41 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23115, writes 0 timeouts 0
2025-04-24 14:25:41 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35701/37148
2025-04-24 14:25:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:41 [info] currentZPosition:0.0243
2025-04-24 14:25:43 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:43 [debug] Diagnostics for board 50:
2025-04-24 14:25:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:47 ago, cause: software
2025-04-24 14:25:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:43 [debug] Moves scheduled 28930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3429972755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:25:43 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17396, writes 0 timeouts 0
2025-04-24 14:25:43 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35951/37113
2025-04-24 14:25:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:43 [info] currentZPosition:0.0237
2025-04-24 14:25:44 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:44 [debug] Diagnostics for board 50:
2025-04-24 14:25:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:27:49 ago, cause: software
2025-04-24 14:25:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:44 [debug] Moves scheduled 28934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3428898338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:44 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18011, writes 0 timeouts 0
2025-04-24 14:25:44 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36298/37122
2025-04-24 14:25:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8760, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:44 [info] currentZPosition:0.0263
2025-04-24 14:25:44 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:46 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:46 [debug] Diagnostics for board 50:
2025-04-24 14:25:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:27:51 ago, cause: software
2025-04-24 14:25:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:46 [debug] Moves scheduled 28940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3427596638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:46 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21838, writes 0 timeouts 0
2025-04-24 14:25:46 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36108/37139
2025-04-24 14:25:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:46 [info] currentZPosition:0.0249
2025-04-24 14:25:47 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:47 [debug] Diagnostics for board 50:
2025-04-24 14:25:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:52 ago, cause: software
2025-04-24 14:25:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:47 [debug] Moves scheduled 28944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3426488432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:47 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18595, writes 0 timeouts 0
2025-04-24 14:25:47 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36076/37159
2025-04-24 14:25:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:47 [info] currentZPosition:0.0260
2025-04-24 14:25:49 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:49 [debug] Diagnostics for board 50:
2025-04-24 14:25:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:27:54 ago, cause: software
2025-04-24 14:25:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:49 [debug] Moves scheduled 28948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3425433624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:25:49 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17686, writes 0 timeouts 0
2025-04-24 14:25:49 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35659/37079
2025-04-24 14:25:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:49 [info] currentZPosition:0.0245
2025-04-24 14:25:49 [debug] Stopped at height 0.022 mm
2025-04-24 14:25:49 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:51 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:51 [debug] Diagnostics for board 50:
2025-04-24 14:25:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:56 ago, cause: software
2025-04-24 14:25:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:51 [debug] Moves scheduled 28956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3423836423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:25:51 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26799, writes 0 timeouts 0
2025-04-24 14:25:51 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35969/37133
2025-04-24 14:25:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:51 [info] currentZPosition:0.0249
2025-04-24 14:25:51 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:52 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:52 [debug] Diagnostics for board 50:
2025-04-24 14:25:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:27:57 ago, cause: software
2025-04-24 14:25:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:52 [debug] Moves scheduled 28962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3422603552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:25:52 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20676, writes 0 timeouts 0
2025-04-24 14:25:52 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35732/37123
2025-04-24 14:25:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:53 [info] currentZPosition:0.0263
2025-04-24 14:25:53 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:53 [debug] Stopped at height 0.023 mm
2025-04-24 14:25:55 [debug] Stopped at height 0.027 mm
2025-04-24 14:25:55 [debug] Diagnostics for board 50:
2025-04-24 14:25:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:27:59 ago, cause: software
2025-04-24 14:25:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:55 [debug] Moves scheduled 28970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3420995011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:55 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27011, writes 0 timeouts 0
2025-04-24 14:25:55 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 35772/37157
2025-04-24 14:25:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:55 [info] currentZPosition:0.0265
2025-04-24 14:25:55 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:56 [debug] Stopped at height 0.026 mm
2025-04-24 14:25:56 [debug] Diagnostics for board 50:
2025-04-24 14:25:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:28:01 ago, cause: software
2025-04-24 14:25:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:56 [debug] Moves scheduled 28976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3419723777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:25:56 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21287, writes 0 timeouts 0
2025-04-24 14:25:56 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35920/37103
2025-04-24 14:25:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:56 [info] currentZPosition:0.0261
2025-04-24 14:25:57 [debug] Stopped at height 0.024 mm
2025-04-24 14:25:58 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:58 [debug] Diagnostics for board 50:
2025-04-24 14:25:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:28:03 ago, cause: software
2025-04-24 14:25:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:58 [debug] Moves scheduled 28982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3418343602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:25:58 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23140, writes 0 timeouts 0
2025-04-24 14:25:58 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35603/37129
2025-04-24 14:25:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:25:58 [info] currentZPosition:0.0249
2025-04-24 14:25:59 [debug] Stopped at height 0.025 mm
2025-04-24 14:25:59 [debug] Diagnostics for board 50:
2025-04-24 14:25:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:25:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:04 ago, cause: software
2025-04-24 14:25:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:25:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:25:59 [debug] Moves scheduled 28986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3417330356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:25:59 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17022, writes 0 timeouts 0
2025-04-24 14:25:59 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36213/37114
2025-04-24 14:25:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:00 [info] currentZPosition:0.0254
2025-04-24 14:26:01 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:01 [debug] Diagnostics for board 50:
2025-04-24 14:26:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:06 ago, cause: software
2025-04-24 14:26:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:01 [debug] Moves scheduled 28990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3416202019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:01 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18893, writes 0 timeouts 0
2025-04-24 14:26:01 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36191/37113
2025-04-24 14:26:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:01 [info] currentZPosition:0.0249
2025-04-24 14:26:02 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:02 [debug] Diagnostics for board 50:
2025-04-24 14:26:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:28:07 ago, cause: software
2025-04-24 14:26:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:02 [debug] Moves scheduled 28994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3415206225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:02 [debug] Driver 0: pos -3460, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16705, writes 0 timeouts 0
2025-04-24 14:26:02 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35623/37109
2025-04-24 14:26:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8762, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:02 [info] currentZPosition:0.0268
2025-04-24 14:26:03 [debug] Stopped at height 0.024 mm
2025-04-24 14:26:04 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:04 [debug] Diagnostics for board 50:
2025-04-24 14:26:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:09 ago, cause: software
2025-04-24 14:26:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:04 [debug] Moves scheduled 29000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3413840737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:26:04 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22910, writes 0 timeouts 0
2025-04-24 14:26:04 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36031/37145
2025-04-24 14:26:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:04 [info] currentZPosition:0.0261
2025-04-24 14:26:05 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:06 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:06 [debug] Diagnostics for board 50:
2025-04-24 14:26:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:11 ago, cause: software
2025-04-24 14:26:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:06 [debug] Moves scheduled 29006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3412568519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:26:06 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21308, writes 0 timeouts 0
2025-04-24 14:26:06 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35792/37142
2025-04-24 14:26:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:06 [info] currentZPosition:0.0254
2025-04-24 14:26:07 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:07 [debug] Diagnostics for board 50:
2025-04-24 14:26:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:28:12 ago, cause: software
2025-04-24 14:26:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:07 [debug] Moves scheduled 29010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 78, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3411471213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:07 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18425, writes 0 timeouts 0
2025-04-24 14:26:07 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35902/37171
2025-04-24 14:26:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:07 [info] currentZPosition:0.0268
2025-04-24 14:26:08 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:09 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:09 [debug] Diagnostics for board 50:
2025-04-24 14:26:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:28:14 ago, cause: software
2025-04-24 14:26:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:09 [debug] Moves scheduled 29016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3410207610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:26:09 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21203, writes 0 timeouts 0
2025-04-24 14:26:09 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 37048/37150
2025-04-24 14:26:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:09 [info] currentZPosition:0.0268
2025-04-24 14:26:09 [debug] Stopped at height 0.024 mm
2025-04-24 14:26:11 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:11 [debug] Diagnostics for board 50:
2025-04-24 14:26:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:28:16 ago, cause: software
2025-04-24 14:26:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:11 [debug] Moves scheduled 29022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3408816568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:26:11 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23301, writes 0 timeouts 0
2025-04-24 14:26:11 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 410, adv 35645/37096
2025-04-24 14:26:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:11 [info] currentZPosition:0.0250
2025-04-24 14:26:12 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:12 [debug] Diagnostics for board 50:
2025-04-24 14:26:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:28:17 ago, cause: software
2025-04-24 14:26:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:12 [debug] Moves scheduled 29026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3407812984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:12 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16833, writes 0 timeouts 0
2025-04-24 14:26:12 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36211/37141
2025-04-24 14:26:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:12 [info] currentZPosition:0.0263
2025-04-24 14:26:13 [debug] Stopped at height 0.024 mm
2025-04-24 14:26:14 [debug] Stopped at height 0.024 mm
2025-04-24 14:26:14 [debug] Diagnostics for board 50:
2025-04-24 14:26:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:19 ago, cause: software
2025-04-24 14:26:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:14 [debug] Moves scheduled 29032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3406419353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:26:14 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23367, writes 0 timeouts 0
2025-04-24 14:26:14 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36241/37138
2025-04-24 14:26:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:14 [info] currentZPosition:0.0242
2025-04-24 14:26:15 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:15 [debug] Diagnostics for board 50:
2025-04-24 14:26:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:28:20 ago, cause: software
2025-04-24 14:26:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:15 [debug] Moves scheduled 29036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 260, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3405448173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:15 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16296, writes 0 timeouts 0
2025-04-24 14:26:15 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 35637/37136
2025-04-24 14:26:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:15 [info] currentZPosition:0.0271
2025-04-24 14:26:16 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:17 [debug] Stopped at height 0.028 mm
2025-04-24 14:26:17 [debug] Diagnostics for board 50:
2025-04-24 14:26:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:22 ago, cause: software
2025-04-24 14:26:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:17 [debug] Moves scheduled 29042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 76, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3404098516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:17 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22639, writes 0 timeouts 0
2025-04-24 14:26:17 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36054/37144
2025-04-24 14:26:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8771, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:17 [info] currentZPosition:0.0275
2025-04-24 14:26:18 [debug] Stopped at height 0.024 mm
2025-04-24 14:26:19 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:19 [debug] Diagnostics for board 50:
2025-04-24 14:26:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:28:24 ago, cause: software
2025-04-24 14:26:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:19 [debug] Moves scheduled 29048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3402792961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:19 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21894, writes 0 timeouts 0
2025-04-24 14:26:19 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35817/37111
2025-04-24 14:26:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:19 [info] currentZPosition:0.0249
2025-04-24 14:26:19 [debug] Stopped at height 0.023 mm
2025-04-24 14:26:21 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:21 [debug] Diagnostics for board 50:
2025-04-24 14:26:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:25 ago, cause: software
2025-04-24 14:26:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:21 [debug] Moves scheduled 29054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3401466331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:21 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22251, writes 0 timeouts 0
2025-04-24 14:26:21 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35957/37173
2025-04-24 14:26:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:21 [info] currentZPosition:0.0264
2025-04-24 14:26:21 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:22 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:22 [debug] Diagnostics for board 50:
2025-04-24 14:26:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:27 ago, cause: software
2025-04-24 14:26:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:22 [debug] Moves scheduled 29060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3400201491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:26:22 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21203, writes 0 timeouts 0
2025-04-24 14:26:22 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36048/37164
2025-04-24 14:26:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:22 [info] currentZPosition:0.0258
2025-04-24 14:26:24 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:24 [debug] Diagnostics for board 50:
2025-04-24 14:26:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:29 ago, cause: software
2025-04-24 14:26:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:24 [debug] Moves scheduled 29064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3399105275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:24 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18401, writes 0 timeouts 0
2025-04-24 14:26:24 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 35804/37151
2025-04-24 14:26:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8777, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:24 [info] currentZPosition:0.0271
2025-04-24 14:26:24 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:25 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:25 [debug] Diagnostics for board 50:
2025-04-24 14:26:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:30 ago, cause: software
2025-04-24 14:26:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:25 [debug] Moves scheduled 29070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 66, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3397850192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:25 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21055, writes 0 timeouts 0
2025-04-24 14:26:25 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36229/37102
2025-04-24 14:26:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:26 [info] currentZPosition:0.0272
2025-04-24 14:26:26 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:27 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:27 [debug] Diagnostics for board 50:
2025-04-24 14:26:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:28:32 ago, cause: software
2025-04-24 14:26:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:27 [debug] Moves scheduled 29076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3396465563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:27 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23211, writes 0 timeouts 0
2025-04-24 14:26:27 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36335/37120
2025-04-24 14:26:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:27 [info] currentZPosition:0.0256
2025-04-24 14:26:29 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:29 [debug] Diagnostics for board 50:
2025-04-24 14:26:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:34 ago, cause: software
2025-04-24 14:26:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:29 [debug] Moves scheduled 29080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3395445510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:29 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17106, writes 0 timeouts 0
2025-04-24 14:26:29 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 35677/37156
2025-04-24 14:26:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:29 [info] currentZPosition:0.0261
2025-04-24 14:26:30 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:30 [debug] Diagnostics for board 50:
2025-04-24 14:26:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:28:35 ago, cause: software
2025-04-24 14:26:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:30 [debug] Moves scheduled 29084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3394332941 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:30 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18667, writes 0 timeouts 0
2025-04-24 14:26:30 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36182/37084
2025-04-24 14:26:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:30 [info] currentZPosition:0.0263
2025-04-24 14:26:31 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:31 [debug] Diagnostics for board 50:
2025-04-24 14:26:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:36 ago, cause: software
2025-04-24 14:26:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:31 [debug] Moves scheduled 29088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3393321644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:31 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16963, writes 0 timeouts 0
2025-04-24 14:26:31 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35803/37114
2025-04-24 14:26:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8772, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:32 [info] currentZPosition:0.0272
2025-04-24 14:26:33 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:33 [debug] Diagnostics for board 50:
2025-04-24 14:26:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:38 ago, cause: software
2025-04-24 14:26:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:33 [debug] Moves scheduled 29092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3392197409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:26:33 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18846, writes 0 timeouts 0
2025-04-24 14:26:33 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36029/37114
2025-04-24 14:26:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:33 [info] currentZPosition:0.0270
2025-04-24 14:26:34 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:34 [debug] Diagnostics for board 50:
2025-04-24 14:26:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:39 ago, cause: software
2025-04-24 14:26:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:34 [debug] Moves scheduled 29096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3391161477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:26:34 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17384, writes 0 timeouts 0
2025-04-24 14:26:34 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36043/37117
2025-04-24 14:26:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:34 [info] currentZPosition:0.0266
2025-04-24 14:26:36 [debug] Stopped at height 0.028 mm
2025-04-24 14:26:36 [debug] Diagnostics for board 50:
2025-04-24 14:26:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:41 ago, cause: software
2025-04-24 14:26:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:36 [debug] Moves scheduled 29100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3390068679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:36 [debug] Driver 0: pos -3456, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18318, writes 0 timeouts 0
2025-04-24 14:26:36 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35790/37123
2025-04-24 14:26:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:36 [info] currentZPosition:0.0282
2025-04-24 14:26:36 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:38 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:38 [debug] Diagnostics for board 50:
2025-04-24 14:26:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:42 ago, cause: software
2025-04-24 14:26:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:38 [debug] Moves scheduled 29106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3388755435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:38 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22026, writes 0 timeouts 0
2025-04-24 14:26:38 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36228/37093
2025-04-24 14:26:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:38 [info] currentZPosition:0.0255
2025-04-24 14:26:39 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:39 [debug] Diagnostics for board 50:
2025-04-24 14:26:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:28:44 ago, cause: software
2025-04-24 14:26:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:39 [debug] Moves scheduled 29110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3387633860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:26:39 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18818, writes 0 timeouts 0
2025-04-24 14:26:39 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35632/37110
2025-04-24 14:26:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:39 [info] currentZPosition:0.0253
2025-04-24 14:26:40 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:40 [debug] Diagnostics for board 50:
2025-04-24 14:26:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:45 ago, cause: software
2025-04-24 14:26:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:40 [debug] Moves scheduled 29114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3386643088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:40 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16598, writes 0 timeouts 0
2025-04-24 14:26:40 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35645/37119
2025-04-24 14:26:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:40 [info] currentZPosition:0.0273
2025-04-24 14:26:41 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:42 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:42 [debug] Diagnostics for board 50:
2025-04-24 14:26:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:47 ago, cause: software
2025-04-24 14:26:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:42 [debug] Moves scheduled 29120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3385244602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:26:42 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23446, writes 0 timeouts 0
2025-04-24 14:26:42 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36241/37122
2025-04-24 14:26:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:42 [info] currentZPosition:0.0249
2025-04-24 14:26:43 [debug] Stopped at height 0.024 mm
2025-04-24 14:26:44 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:44 [debug] Diagnostics for board 50:
2025-04-24 14:26:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:49 ago, cause: software
2025-04-24 14:26:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:44 [debug] Moves scheduled 29126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 105, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3384018482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:26:44 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20608, writes 0 timeouts 0
2025-04-24 14:26:44 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 35775/37126
2025-04-24 14:26:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:44 [info] currentZPosition:0.0273
2025-04-24 14:26:44 [debug] Stopped at height 0.024 mm
2025-04-24 14:26:46 [debug] Stopped at height 0.028 mm
2025-04-24 14:26:46 [debug] Diagnostics for board 50:
2025-04-24 14:26:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:28:51 ago, cause: software
2025-04-24 14:26:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:46 [debug] Moves scheduled 29132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 114, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3382669670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:26:46 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22597, writes 0 timeouts 0
2025-04-24 14:26:46 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36062/37124
2025-04-24 14:26:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:46 [info] currentZPosition:0.0277
2025-04-24 14:26:46 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:47 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:47 [debug] Diagnostics for board 50:
2025-04-24 14:26:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:52 ago, cause: software
2025-04-24 14:26:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:47 [debug] Moves scheduled 29138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 116, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3381402062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:26:47 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21254, writes 0 timeouts 0
2025-04-24 14:26:47 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36013/37102
2025-04-24 14:26:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:47 [info] currentZPosition:0.0272
2025-04-24 14:26:48 [debug] Stopped at height 0.025 mm
2025-04-24 14:26:49 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:49 [debug] Diagnostics for board 50:
2025-04-24 14:26:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:54 ago, cause: software
2025-04-24 14:26:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:49 [debug] Moves scheduled 29144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 112, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3380056371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:26:49 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22580, writes 0 timeouts 0
2025-04-24 14:26:49 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 446, adv 35888/37158
2025-04-24 14:26:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:49 [info] currentZPosition:0.0273
2025-04-24 14:26:50 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:52 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:52 [debug] Diagnostics for board 50:
2025-04-24 14:26:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:28:57 ago, cause: software
2025-04-24 14:26:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:52 [debug] Moves scheduled 29150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3377860433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:26:52 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 36851, writes 0 timeouts 0
2025-04-24 14:26:52 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 67, send timeouts 0, received 30, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36281/37160
2025-04-24 14:26:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:52 [info] currentZPosition:0.0267
2025-04-24 14:26:54 [debug] Stopped at height 0.028 mm
2025-04-24 14:26:54 [debug] Diagnostics for board 50:
2025-04-24 14:26:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:28:58 ago, cause: software
2025-04-24 14:26:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:54 [debug] Moves scheduled 29154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3376762688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:26:54 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18390, writes 0 timeouts 0
2025-04-24 14:26:54 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 35731/37114
2025-04-24 14:26:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:54 [info] currentZPosition:0.0278
2025-04-24 14:26:55 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:55 [debug] Diagnostics for board 50:
2025-04-24 14:26:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:00 ago, cause: software
2025-04-24 14:26:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:55 [debug] Moves scheduled 29158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3375716264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:26:55 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17542, writes 0 timeouts 0
2025-04-24 14:26:55 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 35722/37125
2025-04-24 14:26:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:55 [info] currentZPosition:0.0266
2025-04-24 14:26:56 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:56 [debug] Diagnostics for board 50:
2025-04-24 14:26:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:01 ago, cause: software
2025-04-24 14:26:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:56 [debug] Moves scheduled 29162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 71, peak jitter -1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4294967242 ticks, disabled, next step interrupt due in 3374602388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 14:26:56 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18685, writes 0 timeouts 0
2025-04-24 14:26:56 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36301/37161
2025-04-24 14:26:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:57 [info] currentZPosition:0.0268
2025-04-24 14:26:58 [debug] Stopped at height 0.026 mm
2025-04-24 14:26:58 [debug] Diagnostics for board 50:
2025-04-24 14:26:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:03 ago, cause: software
2025-04-24 14:26:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:58 [debug] Moves scheduled 29166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3373570806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:58 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17313, writes 0 timeouts 0
2025-04-24 14:26:58 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 35884/37141
2025-04-24 14:26:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:58 [info] currentZPosition:0.0263
2025-04-24 14:26:59 [debug] Stopped at height 0.027 mm
2025-04-24 14:26:59 [debug] Diagnostics for board 50:
2025-04-24 14:26:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:26:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:04 ago, cause: software
2025-04-24 14:26:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:26:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:26:59 [debug] Moves scheduled 29170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15625
Sync err accum 87, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3372464721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:26:59 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18546, writes 0 timeouts 0
2025-04-24 14:26:59 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36104/37111
2025-04-24 14:26:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:26:59 [info] currentZPosition:0.0268
2025-04-24 14:27:01 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:01 [debug] Diagnostics for board 50:
2025-04-24 14:27:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:05 ago, cause: software
2025-04-24 14:27:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:01 [debug] Moves scheduled 29174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3371448804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:27:01 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17051, writes 0 timeouts 0
2025-04-24 14:27:01 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36118/37101
2025-04-24 14:27:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:01 [info] currentZPosition:0.0275
2025-04-24 14:27:02 [debug] Stopped at height 0.026 mm
2025-04-24 14:27:02 [debug] Diagnostics for board 50:
2025-04-24 14:27:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:29:07 ago, cause: software
2025-04-24 14:27:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:02 [debug] Moves scheduled 29178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3370297913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:27:02 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19293, writes 0 timeouts 0
2025-04-24 14:27:02 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35985/37098
2025-04-24 14:27:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:02 [info] currentZPosition:0.0257
2025-04-24 14:27:03 [debug] Stopped at height 0.024 mm
2025-04-24 14:27:04 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:04 [debug] Diagnostics for board 50:
2025-04-24 14:27:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:09 ago, cause: software
2025-04-24 14:27:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:04 [debug] Moves scheduled 29184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3369060022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:04 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20759, writes 0 timeouts 0
2025-04-24 14:27:04 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36220/37128
2025-04-24 14:27:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8782, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:04 [info] currentZPosition:0.0276
2025-04-24 14:27:04 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:06 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:06 [debug] Diagnostics for board 50:
2025-04-24 14:27:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:10 ago, cause: software
2025-04-24 14:27:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:06 [debug] Moves scheduled 29190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 86, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3367705563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:06 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22744, writes 0 timeouts 0
2025-04-24 14:27:06 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35766/37138
2025-04-24 14:27:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:06 [info] currentZPosition:0.0276
2025-04-24 14:27:07 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:07 [debug] Diagnostics for board 50:
2025-04-24 14:27:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:12 ago, cause: software
2025-04-24 14:27:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:07 [debug] Moves scheduled 29194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 3366659393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:07 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17514, writes 0 timeouts 0
2025-04-24 14:27:07 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 35726/37135
2025-04-24 14:27:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:07 [info] currentZPosition:0.0266
2025-04-24 14:27:09 [debug] Stopped at height 0.026 mm
2025-04-24 14:27:09 [debug] Diagnostics for board 50:
2025-04-24 14:27:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:13 ago, cause: software
2025-04-24 14:27:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:09 [debug] Moves scheduled 29198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3365528218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:27:09 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18967, writes 0 timeouts 0
2025-04-24 14:27:09 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35627/37125
2025-04-24 14:27:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:09 [info] currentZPosition:0.0257
2025-04-24 14:27:10 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:10 [debug] Diagnostics for board 50:
2025-04-24 14:27:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:15 ago, cause: software
2025-04-24 14:27:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:10 [debug] Moves scheduled 29202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3364523153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:27:10 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16856, writes 0 timeouts 0
2025-04-24 14:27:10 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36231/37130
2025-04-24 14:27:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8835, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:10 [info] currentZPosition:0.0272
2025-04-24 14:27:10 [debug] Stopped at height 0.026 mm
2025-04-24 14:27:12 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:12 [debug] Diagnostics for board 50:
2025-04-24 14:27:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:17 ago, cause: software
2025-04-24 14:27:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:12 [debug] Moves scheduled 29208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3363184645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:27:12 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22457, writes 0 timeouts 0
2025-04-24 14:27:12 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36185/37149
2025-04-24 14:27:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:12 [info] currentZPosition:0.0276
2025-04-24 14:27:12 [debug] Stopped at height 0.026 mm
2025-04-24 14:27:13 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:13 [debug] Diagnostics for board 50:
2025-04-24 14:27:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:18 ago, cause: software
2025-04-24 14:27:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:13 [debug] Moves scheduled 29214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3361927413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:13 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21094, writes 0 timeouts 0
2025-04-24 14:27:13 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36048/37154
2025-04-24 14:27:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:13 [info] currentZPosition:0.0279
2025-04-24 14:27:14 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:15 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:15 [debug] Diagnostics for board 50:
2025-04-24 14:27:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:29:20 ago, cause: software
2025-04-24 14:27:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:15 [debug] Moves scheduled 29220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3360581063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:15 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22576, writes 0 timeouts 0
2025-04-24 14:27:15 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36062/37171
2025-04-24 14:27:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:15 [info] currentZPosition:0.0280
2025-04-24 14:27:16 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:17 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:17 [debug] Diagnostics for board 50:
2025-04-24 14:27:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:22 ago, cause: software
2025-04-24 14:27:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:17 [debug] Moves scheduled 29226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3359314778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:17 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21235, writes 0 timeouts 0
2025-04-24 14:27:17 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36221/37132
2025-04-24 14:27:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:17 [info] currentZPosition:0.0276
2025-04-24 14:27:18 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:18 [debug] Diagnostics for board 50:
2025-04-24 14:27:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:23 ago, cause: software
2025-04-24 14:27:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:18 [debug] Moves scheduled 29230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3358204835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:18 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18611, writes 0 timeouts 0
2025-04-24 14:27:18 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 35930/37162
2025-04-24 14:27:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:18 [info] currentZPosition:0.0280
2025-04-24 14:27:20 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:20 [debug] Diagnostics for board 50:
2025-04-24 14:27:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:25 ago, cause: software
2025-04-24 14:27:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:20 [debug] Moves scheduled 29234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3357169406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:20 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17366, writes 0 timeouts 0
2025-04-24 14:27:20 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35666/37129
2025-04-24 14:27:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:20 [info] currentZPosition:0.0276
2025-04-24 14:27:21 [debug] Stopped at height 0.026 mm
2025-04-24 14:27:21 [debug] Diagnostics for board 50:
2025-04-24 14:27:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:26 ago, cause: software
2025-04-24 14:27:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:21 [debug] Moves scheduled 29238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3356035578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:21 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19006, writes 0 timeouts 0
2025-04-24 14:27:21 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 35718/37100
2025-04-24 14:27:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:21 [info] currentZPosition:0.0264
2025-04-24 14:27:23 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:23 [debug] Diagnostics for board 50:
2025-04-24 14:27:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:27 ago, cause: software
2025-04-24 14:27:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:23 [debug] Moves scheduled 29242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3355025978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:27:23 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16935, writes 0 timeouts 0
2025-04-24 14:27:23 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35797/37118
2025-04-24 14:27:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:23 [info] currentZPosition:0.0273
2025-04-24 14:27:24 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:24 [debug] Diagnostics for board 50:
2025-04-24 14:27:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:29 ago, cause: software
2025-04-24 14:27:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:24 [debug] Moves scheduled 29246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3353912496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:27:24 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18681, writes 0 timeouts 0
2025-04-24 14:27:24 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36251/37133
2025-04-24 14:27:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:24 [info] currentZPosition:0.0272
2025-04-24 14:27:25 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:25 [debug] Diagnostics for board 50:
2025-04-24 14:27:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:29:30 ago, cause: software
2025-04-24 14:27:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:25 [debug] Moves scheduled 29250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3352882556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:27:25 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17269, writes 0 timeouts 0
2025-04-24 14:27:25 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36028/37095
2025-04-24 14:27:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:25 [info] currentZPosition:0.0270
2025-04-24 14:27:27 [debug] Stopped at height 0.026 mm
2025-04-24 14:27:27 [debug] Diagnostics for board 50:
2025-04-24 14:27:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:32 ago, cause: software
2025-04-24 14:27:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:27 [debug] Moves scheduled 29254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3351757497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:27 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18882, writes 0 timeouts 0
2025-04-24 14:27:27 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36059/37124
2025-04-24 14:27:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:27 [info] currentZPosition:0.0262
2025-04-24 14:27:28 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:28 [debug] Diagnostics for board 50:
2025-04-24 14:27:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:29:33 ago, cause: software
2025-04-24 14:27:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:28 [debug] Moves scheduled 29258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3350765759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:27:28 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16621, writes 0 timeouts 0
2025-04-24 14:27:28 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36211/37124
2025-04-24 14:27:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8766, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:28 [info] currentZPosition:0.0282
2025-04-24 14:27:29 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:30 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:30 [debug] Diagnostics for board 50:
2025-04-24 14:27:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:35 ago, cause: software
2025-04-24 14:27:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:30 [debug] Moves scheduled 29264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3349404269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:27:30 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22845, writes 0 timeouts 0
2025-04-24 14:27:30 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35886/37115
2025-04-24 14:27:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:30 [info] currentZPosition:0.0275
2025-04-24 14:27:31 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:31 [debug] Diagnostics for board 50:
2025-04-24 14:27:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:29:36 ago, cause: software
2025-04-24 14:27:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:31 [debug] Moves scheduled 29268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3348382504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:27:31 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17140, writes 0 timeouts 0
2025-04-24 14:27:31 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35628/37090
2025-04-24 14:27:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:31 [info] currentZPosition:0.0279
2025-04-24 14:27:33 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:33 [debug] Diagnostics for board 50:
2025-04-24 14:27:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:38 ago, cause: software
2025-04-24 14:27:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:33 [debug] Moves scheduled 29272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3347256864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:27:33 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18899, writes 0 timeouts 0
2025-04-24 14:27:33 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35701/37065
2025-04-24 14:27:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:33 [info] currentZPosition:0.0271
2025-04-24 14:27:34 [debug] Stopped at height 0.029 mm
2025-04-24 14:27:34 [debug] Diagnostics for board 50:
2025-04-24 14:27:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:29:39 ago, cause: software
2025-04-24 14:27:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:34 [debug] Moves scheduled 29276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3346250551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:34 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16867, writes 0 timeouts 0
2025-04-24 14:27:34 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35875/37156
2025-04-24 14:27:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:34 [info] currentZPosition:0.0285
2025-04-24 14:27:35 [debug] Stopped at height 0.026 mm
2025-04-24 14:27:36 [debug] Stopped at height 0.029 mm
2025-04-24 14:27:36 [debug] Diagnostics for board 50:
2025-04-24 14:27:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:29:41 ago, cause: software
2025-04-24 14:27:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:36 [debug] Moves scheduled 29282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 80, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3344910388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:36 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22494, writes 0 timeouts 0
2025-04-24 14:27:36 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36299/37144
2025-04-24 14:27:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:36 [info] currentZPosition:0.0289
2025-04-24 14:27:36 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:38 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:38 [debug] Diagnostics for board 50:
2025-04-24 14:27:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:29:43 ago, cause: software
2025-04-24 14:27:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:38 [debug] Moves scheduled 29288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3343623729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:38 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21575, writes 0 timeouts 0
2025-04-24 14:27:38 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 35989/37102
2025-04-24 14:27:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:38 [info] currentZPosition:0.0276
2025-04-24 14:27:39 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:39 [debug] Diagnostics for board 50:
2025-04-24 14:27:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:44 ago, cause: software
2025-04-24 14:27:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:39 [debug] Moves scheduled 29292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -3/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3342527007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:39 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18364, writes 0 timeouts 0
2025-04-24 14:27:39 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36155/37139
2025-04-24 14:27:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:39 [info] currentZPosition:0.0284
2025-04-24 14:27:41 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:41 [debug] Diagnostics for board 50:
2025-04-24 14:27:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:45 ago, cause: software
2025-04-24 14:27:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:41 [debug] Moves scheduled 29296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3341479731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:41 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17572, writes 0 timeouts 0
2025-04-24 14:27:41 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36225/37139
2025-04-24 14:27:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:41 [info] currentZPosition:0.0273
2025-04-24 14:27:42 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:42 [debug] Diagnostics for board 50:
2025-04-24 14:27:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:47 ago, cause: software
2025-04-24 14:27:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:42 [debug] Moves scheduled 29300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3340378122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:42 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18490, writes 0 timeouts 0
2025-04-24 14:27:42 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35917/37174
2025-04-24 14:27:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8875, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:42 [info] currentZPosition:0.0277
2025-04-24 14:27:43 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:43 [debug] Diagnostics for board 50:
2025-04-24 14:27:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:48 ago, cause: software
2025-04-24 14:27:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:43 [debug] Moves scheduled 29304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 3339349677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:27:43 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17228, writes 0 timeouts 0
2025-04-24 14:27:43 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35604/37159
2025-04-24 14:27:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8872, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:44 [info] currentZPosition:0.0276
2025-04-24 14:27:45 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:45 [debug] Diagnostics for board 50:
2025-04-24 14:27:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:50 ago, cause: software
2025-04-24 14:27:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:45 [debug] Moves scheduled 29308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3338228269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:27:45 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18818, writes 0 timeouts 0
2025-04-24 14:27:45 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 35790/37145
2025-04-24 14:27:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:45 [info] currentZPosition:0.0271
2025-04-24 14:27:46 [debug] Stopped at height 0.029 mm
2025-04-24 14:27:46 [debug] Diagnostics for board 50:
2025-04-24 14:27:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:29:51 ago, cause: software
2025-04-24 14:27:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:46 [debug] Moves scheduled 29312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3337228320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:27:46 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16788, writes 0 timeouts 0
2025-04-24 14:27:46 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35761/37134
2025-04-24 14:27:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:46 [info] currentZPosition:0.0286
2025-04-24 14:27:47 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:48 [debug] Stopped at height 0.029 mm
2025-04-24 14:27:48 [debug] Diagnostics for board 50:
2025-04-24 14:27:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:53 ago, cause: software
2025-04-24 14:27:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:48 [debug] Moves scheduled 29318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3335884738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:48 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22526, writes 0 timeouts 0
2025-04-24 14:27:48 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35581/37124
2025-04-24 14:27:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8775, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:48 [info] currentZPosition:0.0288
2025-04-24 14:27:48 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:50 [debug] Stopped at height 0.029 mm
2025-04-24 14:27:50 [debug] Diagnostics for board 50:
2025-04-24 14:27:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:55 ago, cause: software
2025-04-24 14:27:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:50 [debug] Moves scheduled 29324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3334620918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:50 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21205, writes 0 timeouts 0
2025-04-24 14:27:50 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36002/37105
2025-04-24 14:27:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8815, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:50 [info] currentZPosition:0.0286
2025-04-24 14:27:51 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:51 [debug] Diagnostics for board 50:
2025-04-24 14:27:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:56 ago, cause: software
2025-04-24 14:27:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:51 [debug] Moves scheduled 29328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 64, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3333501013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:27:51 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18822, writes 0 timeouts 0
2025-04-24 14:27:51 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36206/37125
2025-04-24 14:27:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:51 [info] currentZPosition:0.0280
2025-04-24 14:27:53 [debug] Stopped at height 0.027 mm
2025-04-24 14:27:53 [debug] Diagnostics for board 50:
2025-04-24 14:27:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:29:57 ago, cause: software
2025-04-24 14:27:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:53 [debug] Moves scheduled 29332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3332457091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:27:53 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17471, writes 0 timeouts 0
2025-04-24 14:27:53 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36169/37122
2025-04-24 14:27:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:53 [info] currentZPosition:0.0270
2025-04-24 14:27:54 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:54 [debug] Diagnostics for board 50:
2025-04-24 14:27:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:29:59 ago, cause: software
2025-04-24 14:27:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:54 [debug] Moves scheduled 29336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8928, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3331362343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:27:54 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18351, writes 0 timeouts 0
2025-04-24 14:27:54 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35982/37125
2025-04-24 14:27:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:54 [info] currentZPosition:0.0277
2025-04-24 14:27:55 [debug] Stopped at height 0.029 mm
2025-04-24 14:27:55 [debug] Diagnostics for board 50:
2025-04-24 14:27:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:00 ago, cause: software
2025-04-24 14:27:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:55 [debug] Moves scheduled 29340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3330348912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:55 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17003, writes 0 timeouts 0
2025-04-24 14:27:55 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36354/37100
2025-04-24 14:27:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:56 [info] currentZPosition:0.0285
2025-04-24 14:27:57 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:57 [debug] Diagnostics for board 50:
2025-04-24 14:27:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:02 ago, cause: software
2025-04-24 14:27:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:57 [debug] Moves scheduled 29344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3329223185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:57 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18871, writes 0 timeouts 0
2025-04-24 14:27:57 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 444, adv 35810/37078
2025-04-24 14:27:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:57 [info] currentZPosition:0.0276
2025-04-24 14:27:58 [debug] Stopped at height 0.028 mm
2025-04-24 14:27:58 [debug] Diagnostics for board 50:
2025-04-24 14:27:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:27:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:30:03 ago, cause: software
2025-04-24 14:27:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:27:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:27:58 [debug] Moves scheduled 29348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3328204316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:27:58 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17108, writes 0 timeouts 0
2025-04-24 14:27:58 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35723/37164
2025-04-24 14:27:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:27:58 [info] currentZPosition:0.0281
2025-04-24 14:28:00 [debug] Stopped at height 0.026 mm
2025-04-24 14:28:00 [debug] Diagnostics for board 50:
2025-04-24 14:28:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:05 ago, cause: software
2025-04-24 14:28:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:00 [debug] Moves scheduled 29352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3327059911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:00 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19183, writes 0 timeouts 0
2025-04-24 14:28:00 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35710/37106
2025-04-24 14:28:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:00 [info] currentZPosition:0.0264
2025-04-24 14:28:00 [debug] Stopped at height 0.026 mm
2025-04-24 14:28:01 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:01 [debug] Diagnostics for board 50:
2025-04-24 14:28:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:06 ago, cause: software
2025-04-24 14:28:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:01 [debug] Moves scheduled 29358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3325808360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:28:01 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20994, writes 0 timeouts 0
2025-04-24 14:28:01 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35964/37124
2025-04-24 14:28:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:02 [info] currentZPosition:0.0276
2025-04-24 14:28:02 [debug] Stopped at height 0.026 mm
2025-04-24 14:28:03 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:03 [debug] Diagnostics for board 50:
2025-04-24 14:28:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:08 ago, cause: software
2025-04-24 14:28:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:03 [debug] Moves scheduled 29364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3324481903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 14:28:03 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22250, writes 0 timeouts 0
2025-04-24 14:28:03 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36283/37157
2025-04-24 14:28:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:03 [info] currentZPosition:0.0287
2025-04-24 14:28:04 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:05 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:05 [debug] Diagnostics for board 50:
2025-04-24 14:28:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:30:10 ago, cause: software
2025-04-24 14:28:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:05 [debug] Moves scheduled 29370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3323225340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:05 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21079, writes 0 timeouts 0
2025-04-24 14:28:05 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36124/37106
2025-04-24 14:28:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:05 [info] currentZPosition:0.0290
2025-04-24 14:28:05 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:07 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:07 [debug] Diagnostics for board 50:
2025-04-24 14:28:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:12 ago, cause: software
2025-04-24 14:28:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:07 [debug] Moves scheduled 29376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3321839259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:07 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23236, writes 0 timeouts 0
2025-04-24 14:28:07 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36075/37116
2025-04-24 14:28:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:07 [info] currentZPosition:0.0267
2025-04-24 14:28:08 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:08 [debug] Diagnostics for board 50:
2025-04-24 14:28:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:13 ago, cause: software
2025-04-24 14:28:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:08 [debug] Moves scheduled 29380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3320845645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:08 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16651, writes 0 timeouts 0
2025-04-24 14:28:08 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36064/37124
2025-04-24 14:28:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8803, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:08 [info] currentZPosition:0.0286
2025-04-24 14:28:09 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:10 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:10 [debug] Diagnostics for board 50:
2025-04-24 14:28:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:15 ago, cause: software
2025-04-24 14:28:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:10 [debug] Moves scheduled 29386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3319478163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:28:10 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22930, writes 0 timeouts 0
2025-04-24 14:28:10 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35923/37102
2025-04-24 14:28:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:10 [info] currentZPosition:0.0270
2025-04-24 14:28:11 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:11 [debug] Diagnostics for board 50:
2025-04-24 14:28:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:16 ago, cause: software
2025-04-24 14:28:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:11 [debug] Moves scheduled 29390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3318452064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:28:11 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17211, writes 0 timeouts 0
2025-04-24 14:28:11 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 409, adv 35901/37095
2025-04-24 14:28:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:11 [info] currentZPosition:0.0269
2025-04-24 14:28:13 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:13 [debug] Diagnostics for board 50:
2025-04-24 14:28:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:30:18 ago, cause: software
2025-04-24 14:28:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:13 [debug] Moves scheduled 29394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3317389539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:28:13 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17831, writes 0 timeouts 0
2025-04-24 14:28:13 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35730/37132
2025-04-24 14:28:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:13 [info] currentZPosition:0.0294
2025-04-24 14:28:13 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:14 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:14 [debug] Diagnostics for board 50:
2025-04-24 14:28:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:19 ago, cause: software
2025-04-24 14:28:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:14 [debug] Moves scheduled 29400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 74, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3316109987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:28:14 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21448, writes 0 timeouts 0
2025-04-24 14:28:14 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36072/37125
2025-04-24 14:28:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:15 [info] currentZPosition:0.0288
2025-04-24 14:28:16 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:16 [debug] Diagnostics for board 50:
2025-04-24 14:28:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:21 ago, cause: software
2025-04-24 14:28:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:16 [debug] Moves scheduled 29404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3315020792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:16 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18297, writes 0 timeouts 0
2025-04-24 14:28:16 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36303/37170
2025-04-24 14:28:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8776, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:16 [info] currentZPosition:0.0299
2025-04-24 14:28:17 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:17 [debug] Diagnostics for board 50:
2025-04-24 14:28:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:22 ago, cause: software
2025-04-24 14:28:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:17 [debug] Moves scheduled 29408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3313941872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:28:17 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18066, writes 0 timeouts 0
2025-04-24 14:28:17 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36230/37118
2025-04-24 14:28:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:17 [info] currentZPosition:0.0273
2025-04-24 14:28:18 [debug] Stopped at height 0.026 mm
2025-04-24 14:28:19 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:19 [debug] Diagnostics for board 50:
2025-04-24 14:28:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:24 ago, cause: software
2025-04-24 14:28:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:19 [debug] Moves scheduled 29414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3312597884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:19 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22551, writes 0 timeouts 0
2025-04-24 14:28:19 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36139/37128
2025-04-24 14:28:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:19 [info] currentZPosition:0.0275
2025-04-24 14:28:20 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:20 [debug] Diagnostics for board 50:
2025-04-24 14:28:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:25 ago, cause: software
2025-04-24 14:28:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:20 [debug] Moves scheduled 29418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3311585033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:20 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16980, writes 0 timeouts 0
2025-04-24 14:28:20 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 35644/37127
2025-04-24 14:28:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8893, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:21 [info] currentZPosition:0.0280
2025-04-24 14:28:22 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:22 [debug] Diagnostics for board 50:
2025-04-24 14:28:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:30:27 ago, cause: software
2025-04-24 14:28:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:22 [debug] Moves scheduled 29422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3310459593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:22 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18881, writes 0 timeouts 0
2025-04-24 14:28:22 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35941/37132
2025-04-24 14:28:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:22 [info] currentZPosition:0.0270
2025-04-24 14:28:23 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:23 [debug] Diagnostics for board 50:
2025-04-24 14:28:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:28 ago, cause: software
2025-04-24 14:28:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:23 [debug] Moves scheduled 29426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 76, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3309459112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:23 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16780, writes 0 timeouts 0
2025-04-24 14:28:23 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35808/37115
2025-04-24 14:28:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:23 [info] currentZPosition:0.0285
2025-04-24 14:28:24 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:25 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:25 [debug] Diagnostics for board 50:
2025-04-24 14:28:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:30:30 ago, cause: software
2025-04-24 14:28:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:25 [debug] Moves scheduled 29432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3308142057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:25 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22092, writes 0 timeouts 0
2025-04-24 14:28:25 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35788/37118
2025-04-24 14:28:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:25 [info] currentZPosition:0.0297
2025-04-24 14:28:26 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:27 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:27 [debug] Diagnostics for board 50:
2025-04-24 14:28:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:32 ago, cause: software
2025-04-24 14:28:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:27 [debug] Moves scheduled 29438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 69, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3306873545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:27 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21272, writes 0 timeouts 0
2025-04-24 14:28:27 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36040/37110
2025-04-24 14:28:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:27 [info] currentZPosition:0.0296
2025-04-24 14:28:27 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:29 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:29 [debug] Diagnostics for board 50:
2025-04-24 14:28:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:30:33 ago, cause: software
2025-04-24 14:28:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:29 [debug] Moves scheduled 29444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3305520532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:29 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22685, writes 0 timeouts 0
2025-04-24 14:28:29 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35661/37152
2025-04-24 14:28:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8849, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:29 [info] currentZPosition:0.0289
2025-04-24 14:28:30 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:30 [debug] Diagnostics for board 50:
2025-04-24 14:28:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:35 ago, cause: software
2025-04-24 14:28:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:30 [debug] Moves scheduled 29448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3304509931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:28:30 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16985, writes 0 timeouts 0
2025-04-24 14:28:30 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36239/37110
2025-04-24 14:28:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:30 [info] currentZPosition:0.0298
2025-04-24 14:28:31 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:31 [debug] Diagnostics for board 50:
2025-04-24 14:28:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:30:36 ago, cause: software
2025-04-24 14:28:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:31 [debug] Moves scheduled 29452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=616, max=15000
Sync err accum 67, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3303350788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 14:28:31 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19365, writes 11 timeouts 1
2025-04-24 14:28:31 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36165/37136
2025-04-24 14:28:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:32 [info] currentZPosition:0.0270
2025-04-24 14:28:32 [debug] Stopped at height 0.026 mm
2025-04-24 14:28:33 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:33 [debug] Diagnostics for board 50:
2025-04-24 14:28:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:38 ago, cause: software
2025-04-24 14:28:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:33 [debug] Moves scheduled 29458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 65, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3302113470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:33 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20768, writes 0 timeouts 0
2025-04-24 14:28:33 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35581/37155
2025-04-24 14:28:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8859, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:33 [info] currentZPosition:0.0288
2025-04-24 14:28:34 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:35 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:35 [debug] Diagnostics for board 50:
2025-04-24 14:28:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:40 ago, cause: software
2025-04-24 14:28:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:35 [debug] Moves scheduled 29464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3300771987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:35 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22523, writes 0 timeouts 0
2025-04-24 14:28:35 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36010/37144
2025-04-24 14:28:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:35 [info] currentZPosition:0.0290
2025-04-24 14:28:35 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:37 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:37 [debug] Diagnostics for board 50:
2025-04-24 14:28:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:41 ago, cause: software
2025-04-24 14:28:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:37 [debug] Moves scheduled 29470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3299518235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:37 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21010, writes 0 timeouts 0
2025-04-24 14:28:37 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35782/37115
2025-04-24 14:28:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:37 [info] currentZPosition:0.0294
2025-04-24 14:28:37 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:38 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:38 [debug] Diagnostics for board 50:
2025-04-24 14:28:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:43 ago, cause: software
2025-04-24 14:28:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:38 [debug] Moves scheduled 29476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3298171498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:28:38 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22573, writes 0 timeouts 0
2025-04-24 14:28:38 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35833/37126
2025-04-24 14:28:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:38 [info] currentZPosition:0.0290
2025-04-24 14:28:39 [debug] Stopped at height 0.027 mm
2025-04-24 14:28:40 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:40 [debug] Diagnostics for board 50:
2025-04-24 14:28:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:45 ago, cause: software
2025-04-24 14:28:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:40 [debug] Moves scheduled 29482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3296890092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:40 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21493, writes 0 timeouts 0
2025-04-24 14:28:40 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36028/37168
2025-04-24 14:28:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:40 [info] currentZPosition:0.0278
2025-04-24 14:28:41 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:41 [debug] Diagnostics for board 50:
2025-04-24 14:28:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:30:46 ago, cause: software
2025-04-24 14:28:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:41 [debug] Moves scheduled 29486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3295804766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:28:41 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18200, writes 0 timeouts 0
2025-04-24 14:28:41 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35663/37118
2025-04-24 14:28:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8843, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:42 [info] currentZPosition:0.0288
2025-04-24 14:28:43 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:43 [debug] Diagnostics for board 50:
2025-04-24 14:28:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:48 ago, cause: software
2025-04-24 14:28:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:43 [debug] Moves scheduled 29490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3294784996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:43 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17101, writes 0 timeouts 0
2025-04-24 14:28:43 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36115/37128
2025-04-24 14:28:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8820, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:43 [info] currentZPosition:0.0292
2025-04-24 14:28:44 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:44 [debug] Diagnostics for board 50:
2025-04-24 14:28:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:30:49 ago, cause: software
2025-04-24 14:28:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:44 [debug] Moves scheduled 29494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 65, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3293689582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:28:44 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18384, writes 0 timeouts 0
2025-04-24 14:28:44 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36260/37119
2025-04-24 14:28:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:44 [info] currentZPosition:0.0297
2025-04-24 14:28:46 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:46 [debug] Diagnostics for board 50:
2025-04-24 14:28:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:51 ago, cause: software
2025-04-24 14:28:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:46 [debug] Moves scheduled 29498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3292655239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:28:46 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17343, writes 0 timeouts 0
2025-04-24 14:28:46 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36271/37120
2025-04-24 14:28:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:46 [info] currentZPosition:0.0291
2025-04-24 14:28:47 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:47 [debug] Diagnostics for board 50:
2025-04-24 14:28:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:52 ago, cause: software
2025-04-24 14:28:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:47 [debug] Moves scheduled 29502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3291558744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:28:47 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18395, writes 0 timeouts 0
2025-04-24 14:28:47 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36052/37121
2025-04-24 14:28:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:47 [info] currentZPosition:0.0296
2025-04-24 14:28:49 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:49 [debug] Diagnostics for board 50:
2025-04-24 14:28:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:53 ago, cause: software
2025-04-24 14:28:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:49 [debug] Moves scheduled 29506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3290513711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:28:49 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17515, writes 0 timeouts 0
2025-04-24 14:28:49 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35796/37097
2025-04-24 14:28:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:49 [info] currentZPosition:0.0284
2025-04-24 14:28:50 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:50 [debug] Diagnostics for board 50:
2025-04-24 14:28:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:55 ago, cause: software
2025-04-24 14:28:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:50 [debug] Moves scheduled 29510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3289414978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:28:50 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18438, writes 0 timeouts 0
2025-04-24 14:28:50 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35877/37151
2025-04-24 14:28:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:50 [info] currentZPosition:0.0286
2025-04-24 14:28:51 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:51 [debug] Diagnostics for board 50:
2025-04-24 14:28:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:56 ago, cause: software
2025-04-24 14:28:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:51 [debug] Moves scheduled 29514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3288406134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:51 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16944, writes 0 timeouts 0
2025-04-24 14:28:51 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35875/37169
2025-04-24 14:28:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:51 [info] currentZPosition:0.0299
2025-04-24 14:28:52 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:53 [debug] Stopped at height 0.028 mm
2025-04-24 14:28:53 [debug] Diagnostics for board 50:
2025-04-24 14:28:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:30:58 ago, cause: software
2025-04-24 14:28:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:53 [debug] Moves scheduled 29520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 73, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3287022834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:28:53 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23192, writes 0 timeouts 0
2025-04-24 14:28:53 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35773/37149
2025-04-24 14:28:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:53 [info] currentZPosition:0.0276
2025-04-24 14:28:55 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:55 [debug] Diagnostics for board 50:
2025-04-24 14:28:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:30:59 ago, cause: software
2025-04-24 14:28:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:55 [debug] Moves scheduled 29524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 67, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3286036929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:28:55 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16529, writes 0 timeouts 0
2025-04-24 14:28:55 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36068/37124
2025-04-24 14:28:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:55 [info] currentZPosition:0.0299
2025-04-24 14:28:55 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:56 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:56 [debug] Diagnostics for board 50:
2025-04-24 14:28:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:31:01 ago, cause: software
2025-04-24 14:28:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:56 [debug] Moves scheduled 29530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 68, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3284701542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:28:56 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22408, writes 0 timeouts 0
2025-04-24 14:28:56 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36299/37169
2025-04-24 14:28:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8787, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:56 [info] currentZPosition:0.0301
2025-04-24 14:28:57 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:58 [debug] Stopped at height 0.029 mm
2025-04-24 14:28:58 [debug] Diagnostics for board 50:
2025-04-24 14:28:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:03 ago, cause: software
2025-04-24 14:28:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:58 [debug] Moves scheduled 29536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3283425787 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:28:58 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21390, writes 0 timeouts 0
2025-04-24 14:28:58 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36267/37091
2025-04-24 14:28:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8867, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:28:58 [info] currentZPosition:0.0293
2025-04-24 14:28:59 [debug] Stopped at height 0.030 mm
2025-04-24 14:28:59 [debug] Diagnostics for board 50:
2025-04-24 14:28:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:28:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:04 ago, cause: software
2025-04-24 14:28:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:28:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:28:59 [debug] Moves scheduled 29540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3282342026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:28:59 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18170, writes 0 timeouts 0
2025-04-24 14:28:59 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36132/37124
2025-04-24 14:28:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:00 [info] currentZPosition:0.0303
2025-04-24 14:29:01 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:01 [debug] Diagnostics for board 50:
2025-04-24 14:29:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:06 ago, cause: software
2025-04-24 14:29:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:01 [debug] Moves scheduled 29544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3281309249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:29:01 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17317, writes 0 timeouts 0
2025-04-24 14:29:01 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35743/37145
2025-04-24 14:29:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:01 [info] currentZPosition:0.0301
2025-04-24 14:29:02 [debug] Stopped at height 0.028 mm
2025-04-24 14:29:02 [debug] Diagnostics for board 50:
2025-04-24 14:29:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:07 ago, cause: software
2025-04-24 14:29:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:02 [debug] Moves scheduled 29548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3280168714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:02 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19141, writes 0 timeouts 0
2025-04-24 14:29:02 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36004/37150
2025-04-24 14:29:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:02 [info] currentZPosition:0.0280
2025-04-24 14:29:03 [debug] Stopped at height 0.027 mm
2025-04-24 14:29:04 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:04 [debug] Diagnostics for board 50:
2025-04-24 14:29:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:09 ago, cause: software
2025-04-24 14:29:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:04 [debug] Moves scheduled 29554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3278918649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:04 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20964, writes 0 timeouts 0
2025-04-24 14:29:04 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35887/37120
2025-04-24 14:29:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:04 [info] currentZPosition:0.0288
2025-04-24 14:29:05 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:05 [debug] Diagnostics for board 50:
2025-04-24 14:29:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:31:10 ago, cause: software
2025-04-24 14:29:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:05 [debug] Moves scheduled 29558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3277839476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:29:05 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18105, writes 0 timeouts 0
2025-04-24 14:29:05 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 35785/37113
2025-04-24 14:29:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:06 [info] currentZPosition:0.0301
2025-04-24 14:29:06 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:07 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:07 [debug] Diagnostics for board 50:
2025-04-24 14:29:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:12 ago, cause: software
2025-04-24 14:29:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:07 [debug] Moves scheduled 29564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3276586694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:29:07 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21021, writes 0 timeouts 0
2025-04-24 14:29:07 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36275/37162
2025-04-24 14:29:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:07 [info] currentZPosition:0.0306
2025-04-24 14:29:08 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:09 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:09 [debug] Diagnostics for board 50:
2025-04-24 14:29:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:14 ago, cause: software
2025-04-24 14:29:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:09 [debug] Moves scheduled 29570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3275213574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:29:09 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23021, writes 0 timeouts 0
2025-04-24 14:29:09 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36315/37110
2025-04-24 14:29:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:09 [info] currentZPosition:0.0285
2025-04-24 14:29:10 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:10 [debug] Diagnostics for board 50:
2025-04-24 14:29:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:15 ago, cause: software
2025-04-24 14:29:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:10 [debug] Moves scheduled 29574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3274208601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:10 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16862, writes 0 timeouts 0
2025-04-24 14:29:10 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36090/37119
2025-04-24 14:29:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:10 [info] currentZPosition:0.0299
2025-04-24 14:29:11 [debug] Stopped at height 0.028 mm
2025-04-24 14:29:12 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:12 [debug] Diagnostics for board 50:
2025-04-24 14:29:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:17 ago, cause: software
2025-04-24 14:29:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:12 [debug] Moves scheduled 29580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3272865841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:12 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22513, writes 0 timeouts 0
2025-04-24 14:29:12 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36189/37122
2025-04-24 14:29:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:12 [info] currentZPosition:0.0295
2025-04-24 14:29:13 [debug] Stopped at height 0.027 mm
2025-04-24 14:29:14 [debug] Stopped at height 0.028 mm
2025-04-24 14:29:14 [debug] Diagnostics for board 50:
2025-04-24 14:29:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:19 ago, cause: software
2025-04-24 14:29:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:14 [debug] Moves scheduled 29586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 74, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3271583487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:29:14 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21546, writes 0 timeouts 0
2025-04-24 14:29:14 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36135/37162
2025-04-24 14:29:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:14 [info] currentZPosition:0.0282
2025-04-24 14:29:15 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:15 [debug] Diagnostics for board 50:
2025-04-24 14:29:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:20 ago, cause: software
2025-04-24 14:29:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:15 [debug] Moves scheduled 29590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3270516144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:29:15 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17876, writes 0 timeouts 0
2025-04-24 14:29:15 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36009/37092
2025-04-24 14:29:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4590, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:15 [info] currentZPosition:0.0300
2025-04-24 14:29:16 [debug] Stopped at height 0.028 mm
2025-04-24 14:29:17 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:17 [debug] Diagnostics for board 50:
2025-04-24 14:29:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:22 ago, cause: software
2025-04-24 14:29:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:17 [debug] Moves scheduled 29596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -3/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3269242956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:17 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21355, writes 0 timeouts 0
2025-04-24 14:29:17 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36322/37145
2025-04-24 14:29:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:17 [info] currentZPosition:0.0294
2025-04-24 14:29:17 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:19 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:19 [debug] Diagnostics for board 50:
2025-04-24 14:29:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:24 ago, cause: software
2025-04-24 14:29:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:19 [debug] Moves scheduled 29602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 91, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3267925312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:29:19 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22113, writes 0 timeouts 0
2025-04-24 14:29:19 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35814/37106
2025-04-24 14:29:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:19 [info] currentZPosition:0.0305
2025-04-24 14:29:19 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:20 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:20 [debug] Diagnostics for board 50:
2025-04-24 14:29:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:25 ago, cause: software
2025-04-24 14:29:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:20 [debug] Moves scheduled 29608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3266668274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:29:20 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21060, writes 0 timeouts 0
2025-04-24 14:29:20 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35760/37112
2025-04-24 14:29:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:20 [info] currentZPosition:0.0307
2025-04-24 14:29:21 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:22 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:22 [debug] Diagnostics for board 50:
2025-04-24 14:29:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:27 ago, cause: software
2025-04-24 14:29:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:22 [debug] Moves scheduled 29614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 119, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3265313851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:22 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22729, writes 0 timeouts 0
2025-04-24 14:29:22 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35630/37118
2025-04-24 14:29:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8884, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:22 [info] currentZPosition:0.0295
2025-04-24 14:29:23 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:23 [debug] Diagnostics for board 50:
2025-04-24 14:29:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:28 ago, cause: software
2025-04-24 14:29:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:23 [debug] Moves scheduled 29618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 125, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3264313209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:29:23 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16789, writes 0 timeouts 0
2025-04-24 14:29:23 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35877/37078
2025-04-24 14:29:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:24 [info] currentZPosition:0.0311
2025-04-24 14:29:24 [debug] Stopped at height 0.028 mm
2025-04-24 14:29:24 [debug] Stopped at height 0.027 mm
2025-04-24 14:29:26 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:26 [debug] Diagnostics for board 50:
2025-04-24 14:29:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:30 ago, cause: software
2025-04-24 14:29:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:26 [debug] Moves scheduled 29626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 120, peak jitter -2/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3262712985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:29:26 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26825, writes 0 timeouts 0
2025-04-24 14:29:26 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36166/37130
2025-04-24 14:29:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:26 [info] currentZPosition:0.0306
2025-04-24 14:29:26 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:27 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:27 [debug] Diagnostics for board 50:
2025-04-24 14:29:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:32 ago, cause: software
2025-04-24 14:29:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:27 [debug] Moves scheduled 29632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 104, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3261456148 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:29:27 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21075, writes 0 timeouts 0
2025-04-24 14:29:27 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36039/37146
2025-04-24 14:29:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:27 [info] currentZPosition:0.0310
2025-04-24 14:29:28 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:29 [debug] Stopped at height 0.032 mm
2025-04-24 14:29:29 [debug] Diagnostics for board 50:
2025-04-24 14:29:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:34 ago, cause: software
2025-04-24 14:29:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:29 [debug] Moves scheduled 29638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3260136232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:29:29 [debug] Driver 0: pos -3459, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22146, writes 0 timeouts 0
2025-04-24 14:29:29 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36059/37124
2025-04-24 14:29:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:29 [info] currentZPosition:0.0318
2025-04-24 14:29:30 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:31 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:31 [debug] Diagnostics for board 50:
2025-04-24 14:29:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:36 ago, cause: software
2025-04-24 14:29:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:31 [debug] Moves scheduled 29644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -4/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3258869807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:29:31 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21253, writes 0 timeouts 0
2025-04-24 14:29:31 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36243/37095
2025-04-24 14:29:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:31 [info] currentZPosition:0.0314
2025-04-24 14:29:31 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:33 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:33 [debug] Diagnostics for board 50:
2025-04-24 14:29:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:31:37 ago, cause: software
2025-04-24 14:29:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:33 [debug] Moves scheduled 29650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3257514426 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:29:33 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22724, writes 0 timeouts 0
2025-04-24 14:29:33 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35857/37116
2025-04-24 14:29:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:33 [info] currentZPosition:0.0303
2025-04-24 14:29:33 [debug] Stopped at height 0.028 mm
2025-04-24 14:29:34 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:34 [debug] Diagnostics for board 50:
2025-04-24 14:29:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:39 ago, cause: software
2025-04-24 14:29:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:34 [debug] Moves scheduled 29656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3256253363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:29:34 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21153, writes 0 timeouts 0
2025-04-24 14:29:34 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35659/37131
2025-04-24 14:29:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:34 [info] currentZPosition:0.0301
2025-04-24 14:29:35 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:36 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:36 [debug] Diagnostics for board 50:
2025-04-24 14:29:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:41 ago, cause: software
2025-04-24 14:29:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:36 [debug] Moves scheduled 29662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3254894027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:29:36 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22802, writes 0 timeouts 0
2025-04-24 14:29:36 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35724/37120
2025-04-24 14:29:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:36 [info] currentZPosition:0.0288
2025-04-24 14:29:37 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:37 [debug] Diagnostics for board 50:
2025-04-24 14:29:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:42 ago, cause: software
2025-04-24 14:29:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:37 [debug] Moves scheduled 29666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 82, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3253874693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:29:37 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17094, writes 0 timeouts 0
2025-04-24 14:29:37 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35855/37106
2025-04-24 14:29:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:37 [info] currentZPosition:0.0294
2025-04-24 14:29:39 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:39 [debug] Diagnostics for board 50:
2025-04-24 14:29:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:44 ago, cause: software
2025-04-24 14:29:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:39 [debug] Moves scheduled 29670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3252811872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:29:39 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17834, writes 0 timeouts 0
2025-04-24 14:29:39 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36235/37110
2025-04-24 14:29:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:39 [info] currentZPosition:0.0314
2025-04-24 14:29:39 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:41 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:41 [debug] Diagnostics for board 50:
2025-04-24 14:29:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:31:45 ago, cause: software
2025-04-24 14:29:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:41 [debug] Moves scheduled 29676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3251498494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:29:41 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22023, writes 0 timeouts 0
2025-04-24 14:29:41 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36035/37118
2025-04-24 14:29:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:41 [info] currentZPosition:0.0287
2025-04-24 14:29:42 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:42 [debug] Diagnostics for board 50:
2025-04-24 14:29:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:47 ago, cause: software
2025-04-24 14:29:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:42 [debug] Moves scheduled 29680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3250447365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:29:42 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17628, writes 0 timeouts 0
2025-04-24 14:29:42 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36090/37124
2025-04-24 14:29:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:42 [info] currentZPosition:0.0314
2025-04-24 14:29:42 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:44 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:44 [debug] Diagnostics for board 50:
2025-04-24 14:29:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:49 ago, cause: software
2025-04-24 14:29:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:44 [debug] Moves scheduled 29686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3249158931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:29:44 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21615, writes 0 timeouts 0
2025-04-24 14:29:44 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36099/37109
2025-04-24 14:29:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8885, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:44 [info] currentZPosition:0.0307
2025-04-24 14:29:45 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:45 [debug] Diagnostics for board 50:
2025-04-24 14:29:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:50 ago, cause: software
2025-04-24 14:29:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:45 [debug] Moves scheduled 29690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3248068422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:29:45 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18283, writes 0 timeouts 0
2025-04-24 14:29:45 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35887/37161
2025-04-24 14:29:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:45 [info] currentZPosition:0.0312
2025-04-24 14:29:47 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:47 [debug] Diagnostics for board 50:
2025-04-24 14:29:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:51 ago, cause: software
2025-04-24 14:29:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:47 [debug] Moves scheduled 29694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3247019459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:29:47 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17593, writes 0 timeouts 0
2025-04-24 14:29:47 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36361/37079
2025-04-24 14:29:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:47 [info] currentZPosition:0.0300
2025-04-24 14:29:48 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:48 [debug] Diagnostics for board 50:
2025-04-24 14:29:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:53 ago, cause: software
2025-04-24 14:29:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:48 [debug] Moves scheduled 29698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3245943262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:48 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18068, writes 0 timeouts 0
2025-04-24 14:29:48 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35705/37163
2025-04-24 14:29:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:48 [info] currentZPosition:0.0312
2025-04-24 14:29:49 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:49 [debug] Diagnostics for board 50:
2025-04-24 14:29:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:54 ago, cause: software
2025-04-24 14:29:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:49 [debug] Moves scheduled 29702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3244867672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:29:49 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18030, writes 0 timeouts 0
2025-04-24 14:29:49 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 35694/37125
2025-04-24 14:29:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:49 [info] currentZPosition:0.0287
2025-04-24 14:29:50 [debug] Stopped at height 0.028 mm
2025-04-24 14:29:51 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:51 [debug] Diagnostics for board 50:
2025-04-24 14:29:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:56 ago, cause: software
2025-04-24 14:29:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:51 [debug] Moves scheduled 29708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3243574621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:29:51 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21696, writes 0 timeouts 0
2025-04-24 14:29:51 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36250/37124
2025-04-24 14:29:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:51 [info] currentZPosition:0.0312
2025-04-24 14:29:52 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:53 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:53 [debug] Diagnostics for board 50:
2025-04-24 14:29:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:58 ago, cause: software
2025-04-24 14:29:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:53 [debug] Moves scheduled 29714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 228, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 69, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3242267894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:29:53 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21929, writes 0 timeouts 0
2025-04-24 14:29:53 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35875/37110
2025-04-24 14:29:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:53 [info] currentZPosition:0.0289
2025-04-24 14:29:54 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:54 [debug] Diagnostics for board 50:
2025-04-24 14:29:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:31:59 ago, cause: software
2025-04-24 14:29:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:54 [debug] Moves scheduled 29718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3241197704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:29:54 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17944, writes 0 timeouts 0
2025-04-24 14:29:54 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36131/37090
2025-04-24 14:29:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:54 [info] currentZPosition:0.0303
2025-04-24 14:29:55 [debug] Stopped at height 0.029 mm
2025-04-24 14:29:56 [debug] Stopped at height 0.031 mm
2025-04-24 14:29:56 [debug] Diagnostics for board 50:
2025-04-24 14:29:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:01 ago, cause: software
2025-04-24 14:29:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:56 [debug] Moves scheduled 29724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3239954831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:56 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20854, writes 0 timeouts 0
2025-04-24 14:29:56 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35987/37105
2025-04-24 14:29:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:56 [info] currentZPosition:0.0313
2025-04-24 14:29:56 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:58 [debug] Stopped at height 0.030 mm
2025-04-24 14:29:58 [debug] Diagnostics for board 50:
2025-04-24 14:29:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:03 ago, cause: software
2025-04-24 14:29:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:58 [debug] Moves scheduled 29730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3238600188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:29:58 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22717, writes 0 timeouts 0
2025-04-24 14:29:58 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35951/37124
2025-04-24 14:29:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:58 [info] currentZPosition:0.0298
2025-04-24 14:29:59 [debug] Stopped at height 0.032 mm
2025-04-24 14:29:59 [debug] Diagnostics for board 50:
2025-04-24 14:29:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:29:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:04 ago, cause: software
2025-04-24 14:29:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:29:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:29:59 [debug] Moves scheduled 29734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3237605991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:29:59 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16693, writes 0 timeouts 0
2025-04-24 14:29:59 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36206/37145
2025-04-24 14:29:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8790, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:29:59 [info] currentZPosition:0.0316
2025-04-24 14:30:00 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:01 [debug] Stopped at height 0.029 mm
2025-04-24 14:30:01 [debug] Diagnostics for board 50:
2025-04-24 14:30:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:06 ago, cause: software
2025-04-24 14:30:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:01 [debug] Moves scheduled 29740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3236231255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:30:01 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23052, writes 0 timeouts 0
2025-04-24 14:30:01 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35780/37169
2025-04-24 14:30:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:01 [info] currentZPosition:0.0291
2025-04-24 14:30:02 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:02 [debug] Diagnostics for board 50:
2025-04-24 14:30:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:07 ago, cause: software
2025-04-24 14:30:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:02 [debug] Moves scheduled 29744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8620, max=15000
Sync err accum 89, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3235214383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:30:02 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17036, writes 0 timeouts 0
2025-04-24 14:30:02 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36356/37120
2025-04-24 14:30:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:02 [info] currentZPosition:0.0299
2025-04-24 14:30:04 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:04 [debug] Diagnostics for board 50:
2025-04-24 14:30:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:09 ago, cause: software
2025-04-24 14:30:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:04 [debug] Moves scheduled 29748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3234133459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:30:04 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18146, writes 0 timeouts 0
2025-04-24 14:30:04 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35595/37128
2025-04-24 14:30:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8852, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:04 [info] currentZPosition:0.0308
2025-04-24 14:30:05 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:05 [debug] Diagnostics for board 50:
2025-04-24 14:30:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:10 ago, cause: software
2025-04-24 14:30:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:05 [debug] Moves scheduled 29752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3233120449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:30:05 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16953, writes 0 timeouts 0
2025-04-24 14:30:05 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35769/37164
2025-04-24 14:30:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:05 [info] currentZPosition:0.0316
2025-04-24 14:30:07 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:07 [debug] Diagnostics for board 50:
2025-04-24 14:30:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:32:11 ago, cause: software
2025-04-24 14:30:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:07 [debug] Moves scheduled 29756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3232009625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:30:07 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18649, writes 0 timeouts 0
2025-04-24 14:30:07 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36170/37125
2025-04-24 14:30:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:07 [info] currentZPosition:0.0307
2025-04-24 14:30:08 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:08 [debug] Diagnostics for board 50:
2025-04-24 14:30:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:13 ago, cause: software
2025-04-24 14:30:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:08 [debug] Moves scheduled 29760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3231007698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:30:08 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16842, writes 0 timeouts 0
2025-04-24 14:30:08 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35644/37124
2025-04-24 14:30:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8806, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:08 [info] currentZPosition:0.0323
2025-04-24 14:30:08 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:10 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:10 [debug] Diagnostics for board 50:
2025-04-24 14:30:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:15 ago, cause: software
2025-04-24 14:30:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:10 [debug] Moves scheduled 29766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3229671473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:30:10 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22397, writes 0 timeouts 0
2025-04-24 14:30:10 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35999/37149
2025-04-24 14:30:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8822, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:10 [info] currentZPosition:0.0321
2025-04-24 14:30:11 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:11 [debug] Diagnostics for board 50:
2025-04-24 14:30:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:32:16 ago, cause: software
2025-04-24 14:30:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:11 [debug] Moves scheduled 29770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3228613939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:30:11 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17722, writes 0 timeouts 0
2025-04-24 14:30:11 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36349/37155
2025-04-24 14:30:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:11 [info] currentZPosition:0.0305
2025-04-24 14:30:12 [debug] Stopped at height 0.029 mm
2025-04-24 14:30:13 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:13 [debug] Diagnostics for board 50:
2025-04-24 14:30:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:18 ago, cause: software
2025-04-24 14:30:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:13 [debug] Moves scheduled 29776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3227299306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:30:13 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22094, writes 0 timeouts 0
2025-04-24 14:30:13 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35853/37121
2025-04-24 14:30:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8770, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:13 [info] currentZPosition:0.0321
2025-04-24 14:30:13 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:15 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:15 [debug] Diagnostics for board 50:
2025-04-24 14:30:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:19 ago, cause: software
2025-04-24 14:30:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:15 [debug] Moves scheduled 29782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3226030583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:30:15 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21249, writes 0 timeouts 0
2025-04-24 14:30:15 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35736/37111
2025-04-24 14:30:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:15 [info] currentZPosition:0.0317
2025-04-24 14:30:15 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:16 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:16 [debug] Diagnostics for board 50:
2025-04-24 14:30:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:32:21 ago, cause: software
2025-04-24 14:30:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:16 [debug] Moves scheduled 29788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3224682823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:16 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22604, writes 0 timeouts 0
2025-04-24 14:30:16 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35656/37126
2025-04-24 14:30:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:16 [info] currentZPosition:0.0306
2025-04-24 14:30:18 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:18 [debug] Diagnostics for board 50:
2025-04-24 14:30:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:32:23 ago, cause: software
2025-04-24 14:30:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:18 [debug] Moves scheduled 29792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3223684249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:30:18 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16796, writes 0 timeouts 0
2025-04-24 14:30:18 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35838/37099
2025-04-24 14:30:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8792, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:18 [info] currentZPosition:0.0321
2025-04-24 14:30:18 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:19 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:19 [debug] Diagnostics for board 50:
2025-04-24 14:30:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:32:24 ago, cause: software
2025-04-24 14:30:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:19 [debug] Moves scheduled 29798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3222356666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:19 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22229, writes 0 timeouts 0
2025-04-24 14:30:19 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36317/37102
2025-04-24 14:30:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8804, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:20 [info] currentZPosition:0.0323
2025-04-24 14:30:20 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:21 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:21 [debug] Diagnostics for board 50:
2025-04-24 14:30:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:26 ago, cause: software
2025-04-24 14:30:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:21 [debug] Moves scheduled 29804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3221091063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:30:21 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21227, writes 0 timeouts 0
2025-04-24 14:30:21 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35988/37164
2025-04-24 14:30:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8794, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:21 [info] currentZPosition:0.0322
2025-04-24 14:30:22 [debug] Stopped at height 0.029 mm
2025-04-24 14:30:23 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:23 [debug] Diagnostics for board 50:
2025-04-24 14:30:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:28 ago, cause: software
2025-04-24 14:30:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:23 [debug] Moves scheduled 29810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3219780194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:30:23 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21991, writes 0 timeouts 0
2025-04-24 14:30:23 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36091/37138
2025-04-24 14:30:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8798, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:23 [info] currentZPosition:0.0329
2025-04-24 14:30:23 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:25 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:25 [debug] Diagnostics for board 50:
2025-04-24 14:30:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:29 ago, cause: software
2025-04-24 14:30:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:25 [debug] Moves scheduled 29816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 3218470101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:30:25 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21973, writes 0 timeouts 0
2025-04-24 14:30:25 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36158/37112
2025-04-24 14:30:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:25 [info] currentZPosition:0.0303
2025-04-24 14:30:26 [debug] Stopped at height 0.029 mm
2025-04-24 14:30:26 [debug] Diagnostics for board 50:
2025-04-24 14:30:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:31 ago, cause: software
2025-04-24 14:30:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:26 [debug] Moves scheduled 29820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3217355419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:30:26 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18706, writes 0 timeouts 0
2025-04-24 14:30:26 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35921/37086
2025-04-24 14:30:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:26 [info] currentZPosition:0.0292
2025-04-24 14:30:27 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:27 [debug] Diagnostics for board 50:
2025-04-24 14:30:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:32 ago, cause: software
2025-04-24 14:30:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:27 [debug] Moves scheduled 29824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3216392866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:30:27 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16159, writes 0 timeouts 0
2025-04-24 14:30:27 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36394/37114
2025-04-24 14:30:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:27 [info] currentZPosition:0.0327
2025-04-24 14:30:28 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:29 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:29 [debug] Diagnostics for board 50:
2025-04-24 14:30:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:34 ago, cause: software
2025-04-24 14:30:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:29 [debug] Moves scheduled 29830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3215058633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:29 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22378, writes 0 timeouts 0
2025-04-24 14:30:29 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35707/37165
2025-04-24 14:30:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:29 [info] currentZPosition:0.0323
2025-04-24 14:30:30 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:31 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:31 [debug] Diagnostics for board 50:
2025-04-24 14:30:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:32:36 ago, cause: software
2025-04-24 14:30:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:31 [debug] Moves scheduled 29836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3213794235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:30:31 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21203, writes 0 timeouts 0
2025-04-24 14:30:31 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35781/37131
2025-04-24 14:30:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:31 [info] currentZPosition:0.0320
2025-04-24 14:30:31 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:33 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:33 [debug] Diagnostics for board 50:
2025-04-24 14:30:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:37 ago, cause: software
2025-04-24 14:30:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:33 [debug] Moves scheduled 29842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3212459136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:33 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22390, writes 0 timeouts 0
2025-04-24 14:30:33 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36337/37147
2025-04-24 14:30:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:33 [info] currentZPosition:0.0316
2025-04-24 14:30:34 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:34 [debug] Diagnostics for board 50:
2025-04-24 14:30:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:32:39 ago, cause: software
2025-04-24 14:30:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:34 [debug] Moves scheduled 29846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3211417950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:34 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17468, writes 0 timeouts 0
2025-04-24 14:30:34 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35875/37128
2025-04-24 14:30:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:34 [info] currentZPosition:0.0307
2025-04-24 14:30:35 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:35 [debug] Diagnostics for board 50:
2025-04-24 14:30:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:32:40 ago, cause: software
2025-04-24 14:30:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:35 [debug] Moves scheduled 29850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3210331188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:30:35 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18247, writes 0 timeouts 0
2025-04-24 14:30:35 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36158/37159
2025-04-24 14:30:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:36 [info] currentZPosition:0.0311
2025-04-24 14:30:37 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:37 [debug] Diagnostics for board 50:
2025-04-24 14:30:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:32:42 ago, cause: software
2025-04-24 14:30:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:37 [debug] Moves scheduled 29854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3209339133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:30:37 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16630, writes 0 timeouts 0
2025-04-24 14:30:37 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36029/37153
2025-04-24 14:30:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:37 [info] currentZPosition:0.0331
2025-04-24 14:30:37 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:39 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:39 [debug] Diagnostics for board 50:
2025-04-24 14:30:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:43 ago, cause: software
2025-04-24 14:30:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:39 [debug] Moves scheduled 29860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3208011573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:30:39 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22264, writes 0 timeouts 0
2025-04-24 14:30:39 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35944/37115
2025-04-24 14:30:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:39 [info] currentZPosition:0.0331
2025-04-24 14:30:39 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:40 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:40 [debug] Diagnostics for board 50:
2025-04-24 14:30:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:45 ago, cause: software
2025-04-24 14:30:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:40 [debug] Moves scheduled 29866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3206740774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:30:40 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21318, writes 0 timeouts 0
2025-04-24 14:30:40 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36190/37118
2025-04-24 14:30:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8805, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:40 [info] currentZPosition:0.0325
2025-04-24 14:30:41 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:42 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:42 [debug] Diagnostics for board 50:
2025-04-24 14:30:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:32:47 ago, cause: software
2025-04-24 14:30:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:42 [debug] Moves scheduled 29872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3205410694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:30:42 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22310, writes 0 timeouts 0
2025-04-24 14:30:42 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35800/37153
2025-04-24 14:30:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8807, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:42 [info] currentZPosition:0.0322
2025-04-24 14:30:42 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:44 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:44 [debug] Diagnostics for board 50:
2025-04-24 14:30:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:32:49 ago, cause: software
2025-04-24 14:30:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:44 [debug] Moves scheduled 29878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3204130647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:44 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21491, writes 0 timeouts 0
2025-04-24 14:30:44 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 35626/37134
2025-04-24 14:30:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:44 [info] currentZPosition:0.0310
2025-04-24 14:30:45 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:45 [debug] Diagnostics for board 50:
2025-04-24 14:30:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:32:50 ago, cause: software
2025-04-24 14:30:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:45 [debug] Moves scheduled 29882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3203062022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:30:45 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17900, writes 0 timeouts 0
2025-04-24 14:30:45 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35626/37160
2025-04-24 14:30:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8829, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:45 [info] currentZPosition:0.0323
2025-04-24 14:30:46 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:47 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:47 [debug] Diagnostics for board 50:
2025-04-24 14:30:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:52 ago, cause: software
2025-04-24 14:30:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:47 [debug] Moves scheduled 29888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3201796025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:30:47 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21234, writes 0 timeouts 0
2025-04-24 14:30:47 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35733/37126
2025-04-24 14:30:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:47 [info] currentZPosition:0.0319
2025-04-24 14:30:47 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:49 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:49 [debug] Diagnostics for board 50:
2025-04-24 14:30:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:53 ago, cause: software
2025-04-24 14:30:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:49 [debug] Moves scheduled 29894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3200487057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:30:49 [debug] Driver 0: pos -3470, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21984, writes 0 timeouts 0
2025-04-24 14:30:49 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36221/37106
2025-04-24 14:30:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:49 [info] currentZPosition:0.0325
2025-04-24 14:30:49 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:50 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:50 [debug] Diagnostics for board 50:
2025-04-24 14:30:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:55 ago, cause: software
2025-04-24 14:30:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:50 [debug] Moves scheduled 29900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 92, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3199183855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:30:50 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21852, writes 0 timeouts 0
2025-04-24 14:30:50 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35917/37164
2025-04-24 14:30:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:50 [info] currentZPosition:0.0302
2025-04-24 14:30:51 [debug] Stopped at height 0.029 mm
2025-04-24 14:30:52 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:52 [debug] Diagnostics for board 50:
2025-04-24 14:30:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:32:57 ago, cause: software
2025-04-24 14:30:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:52 [debug] Moves scheduled 29906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 87, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3197874354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:52 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21960, writes 0 timeouts 0
2025-04-24 14:30:52 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36035/37149
2025-04-24 14:30:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:52 [info] currentZPosition:0.0317
2025-04-24 14:30:53 [debug] Stopped at height 0.029 mm
2025-04-24 14:30:54 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:54 [debug] Diagnostics for board 50:
2025-04-24 14:30:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:32:59 ago, cause: software
2025-04-24 14:30:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:54 [debug] Moves scheduled 29912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3196641018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:54 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20724, writes 0 timeouts 0
2025-04-24 14:30:54 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36010/37139
2025-04-24 14:30:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:54 [info] currentZPosition:0.0332
2025-04-24 14:30:54 [debug] Stopped at height 0.032 mm
2025-04-24 14:30:56 [debug] Stopped at height 0.031 mm
2025-04-24 14:30:56 [debug] Diagnostics for board 50:
2025-04-24 14:30:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:33:00 ago, cause: software
2025-04-24 14:30:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:56 [debug] Moves scheduled 29918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3195261501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:30:56 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23116, writes 0 timeouts 0
2025-04-24 14:30:56 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35829/37117
2025-04-24 14:30:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:56 [info] currentZPosition:0.0308
2025-04-24 14:30:56 [debug] Stopped at height 0.029 mm
2025-04-24 14:30:56 [debug] Stopped at height 0.028 mm
2025-04-24 14:30:57 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:57 [debug] Diagnostics for board 50:
2025-04-24 14:30:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:33:02 ago, cause: software
2025-04-24 14:30:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:57 [debug] Moves scheduled 29926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3193785751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:30:57 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24776, writes 0 timeouts 0
2025-04-24 14:30:57 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36150/37149
2025-04-24 14:30:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8832, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:58 [info] currentZPosition:0.0334
2025-04-24 14:30:58 [debug] Stopped at height 0.033 mm
2025-04-24 14:30:59 [debug] Stopped at height 0.030 mm
2025-04-24 14:30:59 [debug] Diagnostics for board 50:
2025-04-24 14:30:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:30:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:33:04 ago, cause: software
2025-04-24 14:30:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:30:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:30:59 [debug] Moves scheduled 29932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3192400485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:30:59 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23234, writes 0 timeouts 0
2025-04-24 14:30:59 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35671/37119
2025-04-24 14:30:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:30:59 [info] currentZPosition:0.0302
2025-04-24 14:31:00 [debug] Stopped at height 0.030 mm
2025-04-24 14:31:01 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:01 [debug] Diagnostics for board 50:
2025-04-24 14:31:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:06 ago, cause: software
2025-04-24 14:31:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:01 [debug] Moves scheduled 29938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3191158303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:01 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20856, writes 0 timeouts 0
2025-04-24 14:31:01 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35676/37117
2025-04-24 14:31:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:01 [info] currentZPosition:0.0312
2025-04-24 14:31:02 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:02 [debug] Diagnostics for board 50:
2025-04-24 14:31:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:07 ago, cause: software
2025-04-24 14:31:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:02 [debug] Moves scheduled 29942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3190104705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:02 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17680, writes 0 timeouts 0
2025-04-24 14:31:02 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36291/37117
2025-04-24 14:31:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8831, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:03 [info] currentZPosition:0.0333
2025-04-24 14:31:03 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:04 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:04 [debug] Diagnostics for board 50:
2025-04-24 14:31:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:09 ago, cause: software
2025-04-24 14:31:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:04 [debug] Moves scheduled 29948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3188852853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:31:04 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20962, writes 0 timeouts 0
2025-04-24 14:31:04 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35780/37153
2025-04-24 14:31:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8786, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:04 [info] currentZPosition:0.0338
2025-04-24 14:31:05 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:06 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:06 [debug] Diagnostics for board 50:
2025-04-24 14:31:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:11 ago, cause: software
2025-04-24 14:31:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:06 [debug] Moves scheduled 29954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3187514544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:06 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22467, writes 0 timeouts 0
2025-04-24 14:31:06 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36081/37112
2025-04-24 14:31:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:06 [info] currentZPosition:0.0336
2025-04-24 14:31:07 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:07 [debug] Diagnostics for board 50:
2025-04-24 14:31:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:33:12 ago, cause: software
2025-04-24 14:31:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:07 [debug] Moves scheduled 29958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3186469592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:07 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17529, writes 0 timeouts 0
2025-04-24 14:31:07 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35913/37088
2025-04-24 14:31:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:07 [info] currentZPosition:0.0325
2025-04-24 14:31:09 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:09 [debug] Diagnostics for board 50:
2025-04-24 14:31:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:33:14 ago, cause: software
2025-04-24 14:31:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:09 [debug] Moves scheduled 29962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3185384933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:31:09 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18211, writes 0 timeouts 0
2025-04-24 14:31:09 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35908/37114
2025-04-24 14:31:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:09 [info] currentZPosition:0.0328
2025-04-24 14:31:10 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:10 [debug] Diagnostics for board 50:
2025-04-24 14:31:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:15 ago, cause: software
2025-04-24 14:31:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:10 [debug] Moves scheduled 29966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3184351324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:31:10 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17339, writes 0 timeouts 0
2025-04-24 14:31:10 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36234/37117
2025-04-24 14:31:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:10 [info] currentZPosition:0.0324
2025-04-24 14:31:12 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:12 [debug] Diagnostics for board 50:
2025-04-24 14:31:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:16 ago, cause: software
2025-04-24 14:31:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:12 [debug] Moves scheduled 29970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3183239011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:31:12 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18656, writes 0 timeouts 0
2025-04-24 14:31:12 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35802/37137
2025-04-24 14:31:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:12 [info] currentZPosition:0.0312
2025-04-24 14:31:13 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:13 [debug] Diagnostics for board 50:
2025-04-24 14:31:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:18 ago, cause: software
2025-04-24 14:31:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:13 [debug] Moves scheduled 29974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3182217539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:31:13 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 0 timeouts 0
2025-04-24 14:31:13 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35878/37164
2025-04-24 14:31:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:13 [info] currentZPosition:0.0315
2025-04-24 14:31:14 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:14 [debug] Diagnostics for board 50:
2025-04-24 14:31:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:33:19 ago, cause: software
2025-04-24 14:31:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:14 [debug] Moves scheduled 29978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3181163902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:14 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17691, writes 0 timeouts 0
2025-04-24 14:31:14 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35654/37171
2025-04-24 14:31:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8800, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:14 [info] currentZPosition:0.0335
2025-04-24 14:31:15 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:16 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:16 [debug] Diagnostics for board 50:
2025-04-24 14:31:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:21 ago, cause: software
2025-04-24 14:31:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:16 [debug] Moves scheduled 29984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3179907469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:31:16 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21085, writes 0 timeouts 0
2025-04-24 14:31:16 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36006/37127
2025-04-24 14:31:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8768, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:16 [info] currentZPosition:0.0338
2025-04-24 14:31:16 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:18 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:18 [debug] Diagnostics for board 50:
2025-04-24 14:31:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:23 ago, cause: software
2025-04-24 14:31:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:18 [debug] Moves scheduled 29990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 71, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3178579373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:18 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22265, writes 0 timeouts 0
2025-04-24 14:31:18 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36142/37147
2025-04-24 14:31:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8834, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:18 [info] currentZPosition:0.0337
2025-04-24 14:31:18 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:19 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:19 [debug] Diagnostics for board 50:
2025-04-24 14:31:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:33:24 ago, cause: software
2025-04-24 14:31:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:19 [debug] Moves scheduled 29996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3177305473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:19 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21366, writes 0 timeouts 0
2025-04-24 14:31:19 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36178/37113
2025-04-24 14:31:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:20 [info] currentZPosition:0.0332
2025-04-24 14:31:20 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:21 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:21 [debug] Diagnostics for board 50:
2025-04-24 14:31:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:26 ago, cause: software
2025-04-24 14:31:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:21 [debug] Moves scheduled 30002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3175965321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:31:21 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22480, writes 0 timeouts 0
2025-04-24 14:31:21 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 36025/37101
2025-04-24 14:31:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:21 [info] currentZPosition:0.0327
2025-04-24 14:31:23 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:23 [debug] Diagnostics for board 50:
2025-04-24 14:31:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:28 ago, cause: software
2025-04-24 14:31:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:23 [debug] Moves scheduled 30006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3174940800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:31:23 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17188, writes 0 timeouts 0
2025-04-24 14:31:23 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36311/37124
2025-04-24 14:31:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:23 [info] currentZPosition:0.0328
2025-04-24 14:31:24 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:24 [debug] Diagnostics for board 50:
2025-04-24 14:31:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:29 ago, cause: software
2025-04-24 14:31:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:24 [debug] Moves scheduled 30010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3173832596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:31:24 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18612, writes 0 timeouts 0
2025-04-24 14:31:24 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 35893/37129
2025-04-24 14:31:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:24 [info] currentZPosition:0.0317
2025-04-24 14:31:25 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:25 [debug] Diagnostics for board 50:
2025-04-24 14:31:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:30 ago, cause: software
2025-04-24 14:31:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:25 [debug] Moves scheduled 30014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3172841693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:31:25 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16604, writes 0 timeouts 0
2025-04-24 14:31:25 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35640/37089
2025-04-24 14:31:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8821, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 816
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:26 [info] currentZPosition:0.0339
2025-04-24 14:31:26 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:27 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:27 [debug] Diagnostics for board 50:
2025-04-24 14:31:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:32 ago, cause: software
2025-04-24 14:31:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:27 [debug] Moves scheduled 30020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3171521125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:31:27 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22208, writes 0 timeouts 0
2025-04-24 14:31:27 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35641/37103
2025-04-24 14:31:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:27 [info] currentZPosition:0.0339
2025-04-24 14:31:28 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:29 [debug] Stopped at height 0.035 mm
2025-04-24 14:31:29 [debug] Diagnostics for board 50:
2025-04-24 14:31:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:33:34 ago, cause: software
2025-04-24 14:31:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:29 [debug] Moves scheduled 30026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3170267314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:31:29 [debug] Driver 0: pos -3461, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21034, writes 0 timeouts 0
2025-04-24 14:31:29 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 35818/37132
2025-04-24 14:31:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8763, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:29 [info] currentZPosition:0.0346
2025-04-24 14:31:29 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:30 [debug] Stopped at height 0.030 mm
2025-04-24 14:31:31 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:31 [debug] Diagnostics for board 50:
2025-04-24 14:31:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:36 ago, cause: software
2025-04-24 14:31:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:31 [debug] Moves scheduled 30034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3168641307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:31:31 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27240, writes 0 timeouts 0
2025-04-24 14:31:31 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36301/37116
2025-04-24 14:31:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:31 [info] currentZPosition:0.0322
2025-04-24 14:31:32 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:32 [debug] Diagnostics for board 50:
2025-04-24 14:31:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:37 ago, cause: software
2025-04-24 14:31:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:32 [debug] Moves scheduled 30038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3167619703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:31:32 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17132, writes 0 timeouts 0
2025-04-24 14:31:32 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36020/37120
2025-04-24 14:31:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:32 [info] currentZPosition:0.0325
2025-04-24 14:31:34 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:34 [debug] Diagnostics for board 50:
2025-04-24 14:31:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:39 ago, cause: software
2025-04-24 14:31:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:34 [debug] Moves scheduled 30042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3166540346 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:31:34 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18165, writes 0 timeouts 0
2025-04-24 14:31:34 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36119/37143
2025-04-24 14:31:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8906, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:34 [info] currentZPosition:0.0327
2025-04-24 14:31:35 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:35 [debug] Diagnostics for board 50:
2025-04-24 14:31:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:33:40 ago, cause: software
2025-04-24 14:31:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:35 [debug] Moves scheduled 30046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3165510098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:31:35 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17227, writes 0 timeouts 0
2025-04-24 14:31:35 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36075/37095
2025-04-24 14:31:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8896, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:35 [info] currentZPosition:0.0328
2025-04-24 14:31:37 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:37 [debug] Diagnostics for board 50:
2025-04-24 14:31:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:33:41 ago, cause: software
2025-04-24 14:31:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:37 [debug] Moves scheduled 30050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3164448447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:31:37 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17824, writes 0 timeouts 0
2025-04-24 14:31:37 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 35947/37151
2025-04-24 14:31:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:37 [info] currentZPosition:0.0345
2025-04-24 14:31:37 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:38 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:38 [debug] Diagnostics for board 50:
2025-04-24 14:31:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:43 ago, cause: software
2025-04-24 14:31:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:38 [debug] Moves scheduled 30056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3163159753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:31:38 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21611, writes 0 timeouts 0
2025-04-24 14:31:38 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36246/37155
2025-04-24 14:31:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8854, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:38 [info] currentZPosition:0.0331
2025-04-24 14:31:40 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:40 [debug] Diagnostics for board 50:
2025-04-24 14:31:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:45 ago, cause: software
2025-04-24 14:31:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:40 [debug] Moves scheduled 30060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3162046222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:31:40 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18694, writes 0 timeouts 0
2025-04-24 14:31:40 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35799/37121
2025-04-24 14:31:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:40 [info] currentZPosition:0.0316
2025-04-24 14:31:40 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:41 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:41 [debug] Diagnostics for board 50:
2025-04-24 14:31:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:46 ago, cause: software
2025-04-24 14:31:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:41 [debug] Moves scheduled 30066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3160808441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:31:41 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20758, writes 0 timeouts 0
2025-04-24 14:31:41 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35608/37118
2025-04-24 14:31:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:42 [info] currentZPosition:0.0333
2025-04-24 14:31:42 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:43 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:43 [debug] Diagnostics for board 50:
2025-04-24 14:31:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:48 ago, cause: software
2025-04-24 14:31:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:43 [debug] Moves scheduled 30072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 87, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3159454422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:31:43 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22717, writes 0 timeouts 0
2025-04-24 14:31:43 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 437, adv 35605/37157
2025-04-24 14:31:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:43 [info] currentZPosition:0.0316
2025-04-24 14:31:45 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:45 [debug] Diagnostics for board 50:
2025-04-24 14:31:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:49 ago, cause: software
2025-04-24 14:31:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:45 [debug] Moves scheduled 30076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 83, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3158450217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-24 14:31:45 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16843, writes 0 timeouts 0
2025-04-24 14:31:45 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35783/37113
2025-04-24 14:31:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8903, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:45 [info] currentZPosition:0.0331
2025-04-24 14:31:45 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:46 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:46 [debug] Diagnostics for board 50:
2025-04-24 14:31:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:51 ago, cause: software
2025-04-24 14:31:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:46 [debug] Moves scheduled 30082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3157113054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:31:46 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22442, writes 0 timeouts 0
2025-04-24 14:31:46 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36201/37108
2025-04-24 14:31:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:46 [info] currentZPosition:0.0323
2025-04-24 14:31:48 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:48 [debug] Diagnostics for board 50:
2025-04-24 14:31:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:33:53 ago, cause: software
2025-04-24 14:31:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:48 [debug] Moves scheduled 30086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3156083117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:31:48 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17274, writes 0 timeouts 0
2025-04-24 14:31:48 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35847/37119
2025-04-24 14:31:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:48 [info] currentZPosition:0.0324
2025-04-24 14:31:49 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:49 [debug] Diagnostics for board 50:
2025-04-24 14:31:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:54 ago, cause: software
2025-04-24 14:31:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:49 [debug] Moves scheduled 30090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3155033087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:31:49 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17607, writes 0 timeouts 0
2025-04-24 14:31:49 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36085/37096
2025-04-24 14:31:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8778, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:49 [info] currentZPosition:0.0343
2025-04-24 14:31:50 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:51 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:51 [debug] Diagnostics for board 50:
2025-04-24 14:31:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:56 ago, cause: software
2025-04-24 14:31:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:51 [debug] Moves scheduled 30096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 78, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3153768950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:31:51 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21217, writes 0 timeouts 0
2025-04-24 14:31:51 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36002/37124
2025-04-24 14:31:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8826, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:51 [info] currentZPosition:0.0344
2025-04-24 14:31:51 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:53 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:53 [debug] Diagnostics for board 50:
2025-04-24 14:31:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:33:58 ago, cause: software
2025-04-24 14:31:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:53 [debug] Moves scheduled 30102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3152414967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:31:53 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22726, writes 0 timeouts 0
2025-04-24 14:31:53 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 35902/37122
2025-04-24 14:31:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:53 [info] currentZPosition:0.0325
2025-04-24 14:31:54 [debug] Stopped at height 0.034 mm
2025-04-24 14:31:54 [debug] Diagnostics for board 50:
2025-04-24 14:31:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:33:59 ago, cause: software
2025-04-24 14:31:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:54 [debug] Moves scheduled 30106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3151406440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:31:54 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16903, writes 0 timeouts 0
2025-04-24 14:31:54 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36136/37152
2025-04-24 14:31:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:54 [info] currentZPosition:0.0336
2025-04-24 14:31:55 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:55 [debug] Diagnostics for board 50:
2025-04-24 14:31:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:00 ago, cause: software
2025-04-24 14:31:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:55 [debug] Moves scheduled 30110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 98, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3150297357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:31:55 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18606, writes 0 timeouts 0
2025-04-24 14:31:55 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35711/37070
2025-04-24 14:31:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:56 [info] currentZPosition:0.0323
2025-04-24 14:31:56 [debug] Stopped at height 0.031 mm
2025-04-24 14:31:57 [debug] Stopped at height 0.032 mm
2025-04-24 14:31:57 [debug] Diagnostics for board 50:
2025-04-24 14:31:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:02 ago, cause: software
2025-04-24 14:31:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:57 [debug] Moves scheduled 30116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3149019227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:31:57 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21462, writes 0 timeouts 0
2025-04-24 14:31:57 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36284/37167
2025-04-24 14:31:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:57 [info] currentZPosition:0.0322
2025-04-24 14:31:59 [debug] Stopped at height 0.033 mm
2025-04-24 14:31:59 [debug] Diagnostics for board 50:
2025-04-24 14:31:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:31:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:03 ago, cause: software
2025-04-24 14:31:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:31:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:31:59 [debug] Moves scheduled 30120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3147949458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:31:59 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17924, writes 0 timeouts 0
2025-04-24 14:31:59 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36304/37102
2025-04-24 14:31:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8872, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:31:59 [info] currentZPosition:0.0330
2025-04-24 14:32:00 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:00 [debug] Diagnostics for board 50:
2025-04-24 14:32:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:05 ago, cause: software
2025-04-24 14:32:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:00 [debug] Moves scheduled 30124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 91, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3146908120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:32:00 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17476, writes 0 timeouts 0
2025-04-24 14:32:00 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35642/37144
2025-04-24 14:32:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:00 [info] currentZPosition:0.0323
2025-04-24 14:32:01 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:01 [debug] Diagnostics for board 50:
2025-04-24 14:32:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:06 ago, cause: software
2025-04-24 14:32:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:01 [debug] Moves scheduled 30128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3145835884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:32:01 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17984, writes 0 timeouts 0
2025-04-24 14:32:01 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36151/37166
2025-04-24 14:32:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:02 [info] currentZPosition:0.0330
2025-04-24 14:32:03 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:03 [debug] Diagnostics for board 50:
2025-04-24 14:32:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:34:08 ago, cause: software
2025-04-24 14:32:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:03 [debug] Moves scheduled 30132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3144783112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:32:03 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17666, writes 0 timeouts 0
2025-04-24 14:32:03 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35775/37139
2025-04-24 14:32:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:03 [info] currentZPosition:0.0317
2025-04-24 14:32:03 [debug] Stopped at height 0.031 mm
2025-04-24 14:32:05 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:05 [debug] Diagnostics for board 50:
2025-04-24 14:32:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:34:09 ago, cause: software
2025-04-24 14:32:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:05 [debug] Moves scheduled 30138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15625
Sync err accum 64, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3143512453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:32:05 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21334, writes 0 timeouts 0
2025-04-24 14:32:05 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35984/37097
2025-04-24 14:32:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:05 [info] currentZPosition:0.0346
2025-04-24 14:32:05 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:06 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:06 [debug] Diagnostics for board 50:
2025-04-24 14:32:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:34:11 ago, cause: software
2025-04-24 14:32:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:06 [debug] Moves scheduled 30144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3142219051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:32:06 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21690, writes 0 timeouts 0
2025-04-24 14:32:06 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35943/37125
2025-04-24 14:32:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8920, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:06 [info] currentZPosition:0.0333
2025-04-24 14:32:08 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:08 [debug] Diagnostics for board 50:
2025-04-24 14:32:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:34:13 ago, cause: software
2025-04-24 14:32:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:08 [debug] Moves scheduled 30148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3141113953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:32:08 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18548, writes 0 timeouts 0
2025-04-24 14:32:08 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35815/37116
2025-04-24 14:32:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:08 [info] currentZPosition:0.0321
2025-04-24 14:32:09 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:09 [debug] Diagnostics for board 50:
2025-04-24 14:32:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:34:14 ago, cause: software
2025-04-24 14:32:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:09 [debug] Moves scheduled 30152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3140120968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:32:09 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16690, writes 0 timeouts 0
2025-04-24 14:32:09 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35846/37092
2025-04-24 14:32:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8858, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:09 [info] currentZPosition:0.0340
2025-04-24 14:32:09 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:11 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:11 [debug] Diagnostics for board 50:
2025-04-24 14:32:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:16 ago, cause: software
2025-04-24 14:32:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:11 [debug] Moves scheduled 30158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3138790007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:32:11 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22312, writes 0 timeouts 0
2025-04-24 14:32:11 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35637/37113
2025-04-24 14:32:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:11 [info] currentZPosition:0.0333
2025-04-24 14:32:12 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:12 [debug] Diagnostics for board 50:
2025-04-24 14:32:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:17 ago, cause: software
2025-04-24 14:32:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:12 [debug] Moves scheduled 30162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3137770298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:32:12 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17139, writes 0 timeouts 0
2025-04-24 14:32:12 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35743/37107
2025-04-24 14:32:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8910, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:12 [info] currentZPosition:0.0338
2025-04-24 14:32:14 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:14 [debug] Diagnostics for board 50:
2025-04-24 14:32:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:18 ago, cause: software
2025-04-24 14:32:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:14 [debug] Moves scheduled 30166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3136708418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:32:14 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17778, writes 0 timeouts 0
2025-04-24 14:32:14 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36212/37122
2025-04-24 14:32:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:14 [info] currentZPosition:0.0351
2025-04-24 14:32:14 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:15 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:15 [debug] Diagnostics for board 50:
2025-04-24 14:32:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:20 ago, cause: software
2025-04-24 14:32:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:15 [debug] Moves scheduled 30172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3135433695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:32:15 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21397, writes 0 timeouts 0
2025-04-24 14:32:15 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35863/37139
2025-04-24 14:32:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:15 [info] currentZPosition:0.0343
2025-04-24 14:32:17 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:17 [debug] Diagnostics for board 50:
2025-04-24 14:32:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:22 ago, cause: software
2025-04-24 14:32:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:17 [debug] Moves scheduled 30176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3134324940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:32:17 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18635, writes 0 timeouts 0
2025-04-24 14:32:17 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 36072/37088
2025-04-24 14:32:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:17 [info] currentZPosition:0.0328
2025-04-24 14:32:17 [debug] Stopped at height 0.031 mm
2025-04-24 14:32:18 [debug] Stopped at height 0.030 mm
2025-04-24 14:32:19 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:19 [debug] Diagnostics for board 50:
2025-04-24 14:32:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:34:24 ago, cause: software
2025-04-24 14:32:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:19 [debug] Moves scheduled 30184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3132847309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:32:19 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24777, writes 0 timeouts 0
2025-04-24 14:32:19 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36018/37113
2025-04-24 14:32:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8785, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:19 [info] currentZPosition:0.0351
2025-04-24 14:32:19 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:20 [debug] Stopped at height 0.031 mm
2025-04-24 14:32:21 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:21 [debug] Diagnostics for board 50:
2025-04-24 14:32:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:34:26 ago, cause: software
2025-04-24 14:32:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:21 [debug] Moves scheduled 30192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3131258475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:32:21 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26643, writes 0 timeouts 0
2025-04-24 14:32:21 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35934/37114
2025-04-24 14:32:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8873, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:21 [info] currentZPosition:0.0338
2025-04-24 14:32:21 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:23 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:23 [debug] Diagnostics for board 50:
2025-04-24 14:32:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:27 ago, cause: software
2025-04-24 14:32:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:23 [debug] Moves scheduled 30198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 113, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3129995838 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:32:23 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21206, writes 0 timeouts 0
2025-04-24 14:32:23 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36175/37116
2025-04-24 14:32:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:23 [info] currentZPosition:0.0339
2025-04-24 14:32:24 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:24 [debug] Diagnostics for board 50:
2025-04-24 14:32:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:29 ago, cause: software
2025-04-24 14:32:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:24 [debug] Moves scheduled 30202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 123, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3128926614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:32:24 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17912, writes 0 timeouts 0
2025-04-24 14:32:24 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35728/37137
2025-04-24 14:32:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:24 [info] currentZPosition:0.0345
2025-04-24 14:32:25 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:25 [debug] Diagnostics for board 50:
2025-04-24 14:32:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:30 ago, cause: software
2025-04-24 14:32:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:25 [debug] Moves scheduled 30206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 126, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3127897407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:32:25 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17265, writes 0 timeouts 0
2025-04-24 14:32:25 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36290/37118
2025-04-24 14:32:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8853, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:25 [info] currentZPosition:0.0342
2025-04-24 14:32:27 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:27 [debug] Diagnostics for board 50:
2025-04-24 14:32:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:32 ago, cause: software
2025-04-24 14:32:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:27 [debug] Moves scheduled 30210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 122, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3126801856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:32:27 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18384, writes 0 timeouts 0
2025-04-24 14:32:27 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 35608/37066
2025-04-24 14:32:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:27 [info] currentZPosition:0.0335
2025-04-24 14:32:28 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:28 [debug] Diagnostics for board 50:
2025-04-24 14:32:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:33 ago, cause: software
2025-04-24 14:32:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:28 [debug] Moves scheduled 30214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 117, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3125784991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:32:28 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17057, writes 0 timeouts 0
2025-04-24 14:32:28 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35747/37121
2025-04-24 14:32:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8862, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:28 [info] currentZPosition:0.0339
2025-04-24 14:32:30 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:30 [debug] Diagnostics for board 50:
2025-04-24 14:32:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:34 ago, cause: software
2025-04-24 14:32:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:30 [debug] Moves scheduled 30218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 111, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3124725577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:32:30 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17781, writes 0 timeouts 0
2025-04-24 14:32:30 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36192/37136
2025-04-24 14:32:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:30 [info] currentZPosition:0.0350
2025-04-24 14:32:31 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:31 [debug] Diagnostics for board 50:
2025-04-24 14:32:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:36 ago, cause: software
2025-04-24 14:32:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:31 [debug] Moves scheduled 30222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3123655361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:32:31 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17966, writes 0 timeouts 0
2025-04-24 14:32:31 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35754/37167
2025-04-24 14:32:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:31 [info] currentZPosition:0.0325
2025-04-24 14:32:31 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:33 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:33 [debug] Diagnostics for board 50:
2025-04-24 14:32:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:38 ago, cause: software
2025-04-24 14:32:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:33 [debug] Moves scheduled 30228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3122332600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:32:33 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22191, writes 0 timeouts 0
2025-04-24 14:32:33 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36031/37121
2025-04-24 14:32:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:33 [info] currentZPosition:0.0323
2025-04-24 14:32:34 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:34 [debug] Diagnostics for board 50:
2025-04-24 14:32:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:34:39 ago, cause: software
2025-04-24 14:32:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:34 [debug] Moves scheduled 30232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3121331134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:32:34 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16806, writes 0 timeouts 0
2025-04-24 14:32:34 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35920/37144
2025-04-24 14:32:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:34 [info] currentZPosition:0.0336
2025-04-24 14:32:35 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:36 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:36 [debug] Diagnostics for board 50:
2025-04-24 14:32:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:41 ago, cause: software
2025-04-24 14:32:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:36 [debug] Moves scheduled 30238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3120019305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:32:36 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22005, writes 0 timeouts 0
2025-04-24 14:32:36 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 35917/37159
2025-04-24 14:32:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:36 [info] currentZPosition:0.0339
2025-04-24 14:32:36 [debug] Stopped at height 0.031 mm
2025-04-24 14:32:38 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:38 [debug] Diagnostics for board 50:
2025-04-24 14:32:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:34:42 ago, cause: software
2025-04-24 14:32:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:38 [debug] Moves scheduled 30244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3118780951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:32:38 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20773, writes 0 timeouts 0
2025-04-24 14:32:38 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35997/37166
2025-04-24 14:32:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8814, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:38 [info] currentZPosition:0.0350
2025-04-24 14:32:38 [debug] Stopped at height 0.036 mm
2025-04-24 14:32:39 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:39 [debug] Diagnostics for board 50:
2025-04-24 14:32:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:44 ago, cause: software
2025-04-24 14:32:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:39 [debug] Moves scheduled 30250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter 2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3117446253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:32:39 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22387, writes 0 timeouts 0
2025-04-24 14:32:39 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35758/37154
2025-04-24 14:32:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:39 [info] currentZPosition:0.0337
2025-04-24 14:32:40 [debug] Stopped at height 0.031 mm
2025-04-24 14:32:40 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:41 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:41 [debug] Diagnostics for board 50:
2025-04-24 14:32:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:46 ago, cause: software
2025-04-24 14:32:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:41 [debug] Moves scheduled 30258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 115, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3115943144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:32:41 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25237, writes 0 timeouts 0
2025-04-24 14:32:41 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36207/37132
2025-04-24 14:32:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:41 [info] currentZPosition:0.0332
2025-04-24 14:32:43 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:43 [debug] Diagnostics for board 50:
2025-04-24 14:32:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:48 ago, cause: software
2025-04-24 14:32:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:43 [debug] Moves scheduled 30262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 122, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3114879107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:32:43 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17834, writes 0 timeouts 0
2025-04-24 14:32:43 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36283/37106
2025-04-24 14:32:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:43 [info] currentZPosition:0.0339
2025-04-24 14:32:44 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:44 [debug] Diagnostics for board 50:
2025-04-24 14:32:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:34:49 ago, cause: software
2025-04-24 14:32:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:44 [debug] Moves scheduled 30266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 125, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3113833488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:32:44 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17544, writes 0 timeouts 0
2025-04-24 14:32:44 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36257/37122
2025-04-24 14:32:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:44 [info] currentZPosition:0.0330
2025-04-24 14:32:46 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:46 [debug] Diagnostics for board 50:
2025-04-24 14:32:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:50 ago, cause: software
2025-04-24 14:32:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:46 [debug] Moves scheduled 30270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 126, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3112746664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:32:46 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18223, writes 0 timeouts 0
2025-04-24 14:32:46 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36197/37095
2025-04-24 14:32:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:46 [info] currentZPosition:0.0330
2025-04-24 14:32:47 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:47 [debug] Diagnostics for board 50:
2025-04-24 14:32:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:52 ago, cause: software
2025-04-24 14:32:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:47 [debug] Moves scheduled 30274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 117, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3111734141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:32:47 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16980, writes 0 timeouts 0
2025-04-24 14:32:47 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 35651/37138
2025-04-24 14:32:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:47 [info] currentZPosition:0.0337
2025-04-24 14:32:48 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:48 [debug] Diagnostics for board 50:
2025-04-24 14:32:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:53 ago, cause: software
2025-04-24 14:32:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:48 [debug] Moves scheduled 30278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3110632208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:32:48 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18472, writes 0 timeouts 0
2025-04-24 14:32:48 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36086/37111
2025-04-24 14:32:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:48 [info] currentZPosition:0.0325
2025-04-24 14:32:50 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:50 [debug] Diagnostics for board 50:
2025-04-24 14:32:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:55 ago, cause: software
2025-04-24 14:32:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:50 [debug] Moves scheduled 30282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3109613398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:32:50 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17104, writes 0 timeouts 0
2025-04-24 14:32:50 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35752/37126
2025-04-24 14:32:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:50 [info] currentZPosition:0.0329
2025-04-24 14:32:51 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:51 [debug] Diagnostics for board 50:
2025-04-24 14:32:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:56 ago, cause: software
2025-04-24 14:32:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:51 [debug] Moves scheduled 30286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3108571185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:32:51 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17479, writes 0 timeouts 0
2025-04-24 14:32:51 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35912/37162
2025-04-24 14:32:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8876, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:51 [info] currentZPosition:0.0348
2025-04-24 14:32:52 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:53 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:53 [debug] Diagnostics for board 50:
2025-04-24 14:32:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:34:58 ago, cause: software
2025-04-24 14:32:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:53 [debug] Moves scheduled 30292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3107272443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max
2025-04-24 14:32:53 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21788, writes 0 timeouts 0
2025-04-24 14:32:53 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35887/37086
2025-04-24 14:32:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:53 [info] currentZPosition:0.0329
2025-04-24 14:32:53 [debug] Stopped at height 0.032 mm
2025-04-24 14:32:55 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:55 [debug] Diagnostics for board 50:
2025-04-24 14:32:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:34:59 ago, cause: software
2025-04-24 14:32:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:55 [debug] Moves scheduled 30298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3105991212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 3
2025-04-24 14:32:55 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21496, writes 0 timeouts 0
2025-04-24 14:32:55 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35704/37120
2025-04-24 14:32:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8801, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:55 [info] currentZPosition:0.0352
2025-04-24 14:32:55 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:56 [debug] Stopped at height 0.035 mm
2025-04-24 14:32:56 [debug] Diagnostics for board 50:
2025-04-24 14:32:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:01 ago, cause: software
2025-04-24 14:32:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:56 [debug] Moves scheduled 30304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 95, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3104732243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:32:56 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21160, writes 0 timeouts 0
2025-04-24 14:32:56 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 35983/37164
2025-04-24 14:32:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:56 [info] currentZPosition:0.0350
2025-04-24 14:32:57 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:58 [debug] Stopped at height 0.033 mm
2025-04-24 14:32:58 [debug] Diagnostics for board 50:
2025-04-24 14:32:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:03 ago, cause: software
2025-04-24 14:32:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:58 [debug] Moves scheduled 30310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 109, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3103389522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:32:58 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22482, writes 0 timeouts 0
2025-04-24 14:32:58 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36308/37121
2025-04-24 14:32:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:58 [info] currentZPosition:0.0334
2025-04-24 14:32:59 [debug] Stopped at height 0.034 mm
2025-04-24 14:32:59 [debug] Diagnostics for board 50:
2025-04-24 14:32:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:32:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:04 ago, cause: software
2025-04-24 14:32:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:32:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:32:59 [debug] Moves scheduled 30314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 116, peak jitter 1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3102376220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:32:59 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17002, writes 0 timeouts 0
2025-04-24 14:32:59 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36140/37101
2025-04-24 14:32:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:32:59 [info] currentZPosition:0.0340
2025-04-24 14:33:01 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:01 [debug] Diagnostics for board 50:
2025-04-24 14:33:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:06 ago, cause: software
2025-04-24 14:33:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:01 [debug] Moves scheduled 30318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 121, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3101292972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:01 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18205, writes 0 timeouts 0
2025-04-24 14:33:01 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36139/37124
2025-04-24 14:33:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:01 [info] currentZPosition:0.0339
2025-04-24 14:33:02 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:02 [debug] Diagnostics for board 50:
2025-04-24 14:33:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:07 ago, cause: software
2025-04-24 14:33:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:02 [debug] Moves scheduled 30322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 124, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3100241036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:33:02 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17608, writes 0 timeouts 0
2025-04-24 14:33:02 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36200/37122
2025-04-24 14:33:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:02 [info] currentZPosition:0.0326
2025-04-24 14:33:03 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:04 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:04 [debug] Diagnostics for board 50:
2025-04-24 14:33:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:09 ago, cause: software
2025-04-24 14:33:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:04 [debug] Moves scheduled 30328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 121, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4294967240 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3098994298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU 
2025-04-24 14:33:04 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20925, writes 0 timeouts 0
2025-04-24 14:33:04 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36017/37105
2025-04-24 14:33:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:04 [info] currentZPosition:0.0363
2025-04-24 14:33:04 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:06 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:06 [debug] Diagnostics for board 50:
2025-04-24 14:33:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:11 ago, cause: software
2025-04-24 14:33:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:06 [debug] Moves scheduled 30334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 115, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3097684962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:33:06 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21995, writes 0 timeouts 0
2025-04-24 14:33:06 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36321/37105
2025-04-24 14:33:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:06 [info] currentZPosition:0.0338
2025-04-24 14:33:06 [debug] Stopped at height 0.032 mm
2025-04-24 14:33:07 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:07 [debug] Diagnostics for board 50:
2025-04-24 14:33:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:12 ago, cause: software
2025-04-24 14:33:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:07 [debug] Moves scheduled 30340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 104, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3096393079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:33:07 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21676, writes 0 timeouts 0
2025-04-24 14:33:07 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35847/37105
2025-04-24 14:33:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:07 [info] currentZPosition:0.0355
2025-04-24 14:33:08 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:09 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:09 [debug] Diagnostics for board 50:
2025-04-24 14:33:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:14 ago, cause: software
2025-04-24 14:33:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:09 [debug] Moves scheduled 30346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3095102744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:33:09 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21638, writes 0 timeouts 0
2025-04-24 14:33:09 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35877/37149
2025-04-24 14:33:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:09 [info] currentZPosition:0.0337
2025-04-24 14:33:10 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:11 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:11 [debug] Diagnostics for board 50:
2025-04-24 14:33:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:35:16 ago, cause: software
2025-04-24 14:33:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:11 [debug] Moves scheduled 30352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3093781327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:33:11 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22201, writes 0 timeouts 0
2025-04-24 14:33:11 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35694/37127
2025-04-24 14:33:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:11 [info] currentZPosition:0.0335
2025-04-24 14:33:12 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:12 [debug] Diagnostics for board 50:
2025-04-24 14:33:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:35:17 ago, cause: software
2025-04-24 14:33:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:12 [debug] Moves scheduled 30356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 60, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3092772189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:33:12 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16905, writes 0 timeouts 0
2025-04-24 14:33:12 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36222/37138
2025-04-24 14:33:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:12 [info] currentZPosition:0.0345
2025-04-24 14:33:14 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:14 [debug] Diagnostics for board 50:
2025-04-24 14:33:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:18 ago, cause: software
2025-04-24 14:33:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:14 [debug] Moves scheduled 30360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3091714399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:33:14 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17749, writes 0 timeouts 0
2025-04-24 14:33:14 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36315/37115
2025-04-24 14:33:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:14 [info] currentZPosition:0.0356
2025-04-24 14:33:15 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:15 [debug] Diagnostics for board 50:
2025-04-24 14:33:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:20 ago, cause: software
2025-04-24 14:33:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:15 [debug] Moves scheduled 30364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3090639435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:33:15 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18035, writes 0 timeouts 0
2025-04-24 14:33:15 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36285/37118
2025-04-24 14:33:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:15 [info] currentZPosition:0.0334
2025-04-24 14:33:15 [debug] Stopped at height 0.032 mm
2025-04-24 14:33:17 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:17 [debug] Diagnostics for board 50:
2025-04-24 14:33:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:22 ago, cause: software
2025-04-24 14:33:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:17 [debug] Moves scheduled 30370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 106, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3089365402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:17 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21382, writes 0 timeouts 0
2025-04-24 14:33:17 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36184/37172
2025-04-24 14:33:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8781, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:17 [info] currentZPosition:0.0359
2025-04-24 14:33:17 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:18 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:18 [debug] Diagnostics for board 50:
2025-04-24 14:33:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:23 ago, cause: software
2025-04-24 14:33:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:18 [debug] Moves scheduled 30376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 118, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3088093001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:33:18 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21329, writes 0 timeouts 0
2025-04-24 14:33:18 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35714/37101
2025-04-24 14:33:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:19 [info] currentZPosition:0.0353
2025-04-24 14:33:19 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:20 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:20 [debug] Diagnostics for board 50:
2025-04-24 14:33:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:25 ago, cause: software
2025-04-24 14:33:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:20 [debug] Moves scheduled 30382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 126, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3086759708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:20 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22410, writes 0 timeouts 0
2025-04-24 14:33:20 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36055/37120
2025-04-24 14:33:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:20 [info] currentZPosition:0.0339
2025-04-24 14:33:21 [debug] Stopped at height 0.032 mm
2025-04-24 14:33:22 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:22 [debug] Diagnostics for board 50:
2025-04-24 14:33:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:27 ago, cause: software
2025-04-24 14:33:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:22 [debug] Moves scheduled 30388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 123, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3085505003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:33:22 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21035, writes 0 timeouts 0
2025-04-24 14:33:22 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35779/37124
2025-04-24 14:33:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8899, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:22 [info] currentZPosition:0.0348
2025-04-24 14:33:22 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:24 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:24 [debug] Diagnostics for board 50:
2025-04-24 14:33:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:29 ago, cause: software
2025-04-24 14:33:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:24 [debug] Moves scheduled 30394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 109, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3084177865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 14:33:24 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22274, writes 0 timeouts 0
2025-04-24 14:33:24 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35896/37118
2025-04-24 14:33:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:24 [info] currentZPosition:0.0340
2025-04-24 14:33:25 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:25 [debug] Diagnostics for board 50:
2025-04-24 14:33:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:30 ago, cause: software
2025-04-24 14:33:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:25 [debug] Moves scheduled 30398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3083177026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:33:25 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16800, writes 0 timeouts 0
2025-04-24 14:33:25 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35869/37139
2025-04-24 14:33:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8880, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:25 [info] currentZPosition:0.0357
2025-04-24 14:33:25 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:27 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:27 [debug] Diagnostics for board 50:
2025-04-24 14:33:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:32 ago, cause: software
2025-04-24 14:33:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:27 [debug] Moves scheduled 30404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -4/-2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3081871455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:33:27 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21898, writes 0 timeouts 0
2025-04-24 14:33:27 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35759/37110
2025-04-24 14:33:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:27 [info] currentZPosition:0.0361
2025-04-24 14:33:27 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:28 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:28 [debug] Diagnostics for board 50:
2025-04-24 14:33:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:33 ago, cause: software
2025-04-24 14:33:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:28 [debug] Moves scheduled 30410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 61, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3080579799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:28 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21667, writes 0 timeouts 0
2025-04-24 14:33:28 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35966/37107
2025-04-24 14:33:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:29 [info] currentZPosition:0.0344
2025-04-24 14:33:30 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:30 [debug] Diagnostics for board 50:
2025-04-24 14:33:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:35 ago, cause: software
2025-04-24 14:33:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:30 [debug] Moves scheduled 30414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3079521566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:33:30 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17751, writes 0 timeouts 0
2025-04-24 14:33:30 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36327/37149
2025-04-24 14:33:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:30 [info] currentZPosition:0.0353
2025-04-24 14:33:31 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:31 [debug] Diagnostics for board 50:
2025-04-24 14:33:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:36 ago, cause: software
2025-04-24 14:33:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:31 [debug] Moves scheduled 30418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3078512147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:33:31 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16955, writes 0 timeouts 0
2025-04-24 14:33:31 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36090/37122
2025-04-24 14:33:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:31 [info] currentZPosition:0.0362
2025-04-24 14:33:33 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:33 [debug] Diagnostics for board 50:
2025-04-24 14:33:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:35:38 ago, cause: software
2025-04-24 14:33:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:33 [debug] Moves scheduled 30422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 99, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3077412928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:33:33 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18435, writes 0 timeouts 0
2025-04-24 14:33:33 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36197/37164
2025-04-24 14:33:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:33 [info] currentZPosition:0.0349
2025-04-24 14:33:33 [debug] Stopped at height 0.032 mm
2025-04-24 14:33:33 [debug] Stopped at height 0.032 mm
2025-04-24 14:33:35 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:35 [debug] Diagnostics for board 50:
2025-04-24 14:33:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:40 ago, cause: software
2025-04-24 14:33:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:35 [debug] Moves scheduled 30430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3075911525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:33:35 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25197, writes 0 timeouts 0
2025-04-24 14:33:35 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36211/37111
2025-04-24 14:33:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8861, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:35 [info] currentZPosition:0.0357
2025-04-24 14:33:35 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:36 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:36 [debug] Diagnostics for board 50:
2025-04-24 14:33:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:41 ago, cause: software
2025-04-24 14:33:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:36 [debug] Moves scheduled 30436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 114, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3074570896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:36 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22513, writes 0 timeouts 0
2025-04-24 14:33:36 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36076/37099
2025-04-24 14:33:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:37 [info] currentZPosition:0.0345
2025-04-24 14:33:38 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:38 [debug] Diagnostics for board 50:
2025-04-24 14:33:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:43 ago, cause: software
2025-04-24 14:33:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:38 [debug] Moves scheduled 30440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 114, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3073570561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:33:38 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16759, writes 0 timeouts 0
2025-04-24 14:33:38 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36257/37101
2025-04-24 14:33:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:38 [info] currentZPosition:0.0360
2025-04-24 14:33:38 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:40 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:40 [debug] Diagnostics for board 50:
2025-04-24 14:33:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:44 ago, cause: software
2025-04-24 14:33:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:40 [debug] Moves scheduled 30446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 109, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3072250404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:33:40 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22149, writes 0 timeouts 0
2025-04-24 14:33:40 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35880/37146
2025-04-24 14:33:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:40 [info] currentZPosition:0.0352
2025-04-24 14:33:41 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:41 [debug] Diagnostics for board 50:
2025-04-24 14:33:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:46 ago, cause: software
2025-04-24 14:33:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:41 [debug] Moves scheduled 30450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3071214211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:33:41 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17414, writes 0 timeouts 0
2025-04-24 14:33:41 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35646/37149
2025-04-24 14:33:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:41 [info] currentZPosition:0.0346
2025-04-24 14:33:42 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:42 [debug] Diagnostics for board 50:
2025-04-24 14:33:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:47 ago, cause: software
2025-04-24 14:33:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:42 [debug] Moves scheduled 30454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3070151393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:33:42 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17794, writes 0 timeouts 0
2025-04-24 14:33:42 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 35714/37125
2025-04-24 14:33:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8907, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:42 [info] currentZPosition:0.0352
2025-04-24 14:33:44 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:44 [debug] Diagnostics for board 50:
2025-04-24 14:33:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:49 ago, cause: software
2025-04-24 14:33:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:44 [debug] Moves scheduled 30458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3069121970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:33:44 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17286, writes 0 timeouts 0
2025-04-24 14:33:44 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 340, adv 35766/37174
2025-04-24 14:33:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:44 [info] currentZPosition:0.0351
2025-04-24 14:33:45 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:45 [debug] Diagnostics for board 50:
2025-04-24 14:33:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:35:50 ago, cause: software
2025-04-24 14:33:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:45 [debug] Moves scheduled 30462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3068026382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:33:45 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18408, writes 0 timeouts 0
2025-04-24 14:33:45 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35613/37108
2025-04-24 14:33:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:45 [info] currentZPosition:0.0340
2025-04-24 14:33:47 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:47 [debug] Diagnostics for board 50:
2025-04-24 14:33:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:35:51 ago, cause: software
2025-04-24 14:33:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:47 [debug] Moves scheduled 30466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3067006081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:33:47 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17089, writes 0 timeouts 0
2025-04-24 14:33:47 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 35845/37166
2025-04-24 14:33:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:47 [info] currentZPosition:0.0344
2025-04-24 14:33:48 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:48 [debug] Diagnostics for board 50:
2025-04-24 14:33:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:35:53 ago, cause: software
2025-04-24 14:33:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:48 [debug] Moves scheduled 30470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3065935046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:33:48 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17990, writes 0 timeouts 0
2025-04-24 14:33:48 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36282/37128
2025-04-24 14:33:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:48 [info] currentZPosition:0.0346
2025-04-24 14:33:49 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:49 [debug] Diagnostics for board 50:
2025-04-24 14:33:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:54 ago, cause: software
2025-04-24 14:33:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:49 [debug] Moves scheduled 30474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3064900107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:33:49 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17369, writes 0 timeouts 0
2025-04-24 14:33:49 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35921/37147
2025-04-24 14:33:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:49 [info] currentZPosition:0.0342
2025-04-24 14:33:51 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:51 [debug] Diagnostics for board 50:
2025-04-24 14:33:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:35:56 ago, cause: software
2025-04-24 14:33:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:51 [debug] Moves scheduled 30478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3063858917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:33:51 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17443, writes 0 timeouts 0
2025-04-24 14:33:51 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36101/37107
2025-04-24 14:33:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:51 [info] currentZPosition:0.0360
2025-04-24 14:33:51 [debug] Stopped at height 0.036 mm
2025-04-24 14:33:52 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:52 [debug] Diagnostics for board 50:
2025-04-24 14:33:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:57 ago, cause: software
2025-04-24 14:33:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:52 [debug] Moves scheduled 30484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3062559609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:33:52 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21804, writes 0 timeouts 0
2025-04-24 14:33:52 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36033/37097
2025-04-24 14:33:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:53 [info] currentZPosition:0.0340
2025-04-24 14:33:53 [debug] Stopped at height 0.033 mm
2025-04-24 14:33:54 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:54 [debug] Diagnostics for board 50:
2025-04-24 14:33:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:35:59 ago, cause: software
2025-04-24 14:33:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:54 [debug] Moves scheduled 30490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3061263536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:54 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21774, writes 0 timeouts 0
2025-04-24 14:33:54 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36048/37148
2025-04-24 14:33:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:54 [info] currentZPosition:0.0350
2025-04-24 14:33:55 [debug] Stopped at height 0.034 mm
2025-04-24 14:33:56 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:56 [debug] Diagnostics for board 50:
2025-04-24 14:33:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:01 ago, cause: software
2025-04-24 14:33:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:56 [debug] Moves scheduled 30496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3059997574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:56 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21222, writes 0 timeouts 0
2025-04-24 14:33:56 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36141/37143
2025-04-24 14:33:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:56 [info] currentZPosition:0.0352
2025-04-24 14:33:57 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:57 [debug] Diagnostics for board 50:
2025-04-24 14:33:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:02 ago, cause: software
2025-04-24 14:33:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:57 [debug] Moves scheduled 30500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3058922704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:33:57 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18032, writes 0 timeouts 0
2025-04-24 14:33:57 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35800/37136
2025-04-24 14:33:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:57 [info] currentZPosition:0.0351
2025-04-24 14:33:59 [debug] Stopped at height 0.035 mm
2025-04-24 14:33:59 [debug] Diagnostics for board 50:
2025-04-24 14:33:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:33:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:04 ago, cause: software
2025-04-24 14:33:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:33:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:33:59 [debug] Moves scheduled 30504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3057890468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:33:59 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17335, writes 0 timeouts 0
2025-04-24 14:33:59 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36238/37151
2025-04-24 14:33:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:33:59 [info] currentZPosition:0.0347
2025-04-24 14:34:00 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:00 [debug] Diagnostics for board 50:
2025-04-24 14:34:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:05 ago, cause: software
2025-04-24 14:34:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:00 [debug] Moves scheduled 30508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3056829529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:34:00 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17781, writes 0 timeouts 0
2025-04-24 14:34:00 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 35767/37115
2025-04-24 14:34:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:00 [info] currentZPosition:0.0354
2025-04-24 14:34:01 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:01 [debug] Diagnostics for board 50:
2025-04-24 14:34:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:36:06 ago, cause: software
2025-04-24 14:34:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:01 [debug] Moves scheduled 30512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3055793161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:34:01 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17388, writes 0 timeouts 0
2025-04-24 14:34:01 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36392/37118
2025-04-24 14:34:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:02 [info] currentZPosition:0.0349
2025-04-24 14:34:03 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:03 [debug] Diagnostics for board 50:
2025-04-24 14:34:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:08 ago, cause: software
2025-04-24 14:34:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:03 [debug] Moves scheduled 30516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3054775273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:34:03 [debug] Driver 0: pos -3462, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17130, writes 0 timeouts 0
2025-04-24 14:34:03 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 442, adv 36203/37121
2025-04-24 14:34:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8830, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:03 [info] currentZPosition:0.0378
2025-04-24 14:34:03 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:05 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:05 [debug] Diagnostics for board 50:
2025-04-24 14:34:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:09 ago, cause: software
2025-04-24 14:34:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:05 [debug] Moves scheduled 30522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3053489400 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:34:05 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21534, writes 0 timeouts 0
2025-04-24 14:34:05 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35649/37117
2025-04-24 14:34:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:05 [info] currentZPosition:0.0371
2025-04-24 14:34:06 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:06 [debug] Diagnostics for board 50:
2025-04-24 14:34:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:11 ago, cause: software
2025-04-24 14:34:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:06 [debug] Moves scheduled 30526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3052389724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:34:06 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18449, writes 0 timeouts 0
2025-04-24 14:34:06 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36184/37117
2025-04-24 14:34:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:06 [info] currentZPosition:0.0356
2025-04-24 14:34:06 [debug] Stopped at height 0.034 mm
2025-04-24 14:34:08 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:08 [debug] Diagnostics for board 50:
2025-04-24 14:34:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:13 ago, cause: software
2025-04-24 14:34:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:08 [debug] Moves scheduled 30532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3051151089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:34:08 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20806, writes 0 timeouts 0
2025-04-24 14:34:08 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 35606/37103
2025-04-24 14:34:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:08 [info] currentZPosition:0.0372
2025-04-24 14:34:08 [debug] Stopped at height 0.034 mm
2025-04-24 14:34:09 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:09 [debug] Diagnostics for board 50:
2025-04-24 14:34:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:14 ago, cause: software
2025-04-24 14:34:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:09 [debug] Moves scheduled 30538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3049793695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:34:09 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22764, writes 0 timeouts 0
2025-04-24 14:34:09 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36045/37134
2025-04-24 14:34:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:10 [info] currentZPosition:0.0347
2025-04-24 14:34:11 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:11 [debug] Diagnostics for board 50:
2025-04-24 14:34:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:16 ago, cause: software
2025-04-24 14:34:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:11 [debug] Moves scheduled 30542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3048784605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 
2025-04-24 14:34:11 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16925, writes 0 timeouts 0
2025-04-24 14:34:11 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 338, adv 36338/37148
2025-04-24 14:34:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8898, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:11 [info] currentZPosition:0.0355
2025-04-24 14:34:12 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:12 [debug] Diagnostics for board 50:
2025-04-24 14:34:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:17 ago, cause: software
2025-04-24 14:34:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:12 [debug] Moves scheduled 30546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 81, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3047714365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:34:12 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17947, writes 0 timeouts 0
2025-04-24 14:34:12 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 35924/37122
2025-04-24 14:34:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:12 [info] currentZPosition:0.0355
2025-04-24 14:34:14 [debug] Stopped at height 0.034 mm
2025-04-24 14:34:14 [debug] Diagnostics for board 50:
2025-04-24 14:34:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:36:19 ago, cause: software
2025-04-24 14:34:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:14 [debug] Moves scheduled 30550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3046674311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:34:14 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17449, writes 0 timeouts 0
2025-04-24 14:34:14 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35651/37137
2025-04-24 14:34:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:14 [info] currentZPosition:0.0344
2025-04-24 14:34:15 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:15 [debug] Diagnostics for board 50:
2025-04-24 14:34:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:20 ago, cause: software
2025-04-24 14:34:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:15 [debug] Moves scheduled 30554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3045641719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:34:15 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17334, writes 0 timeouts 0
2025-04-24 14:34:15 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 35811/37120
2025-04-24 14:34:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:15 [info] currentZPosition:0.0367
2025-04-24 14:34:15 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:17 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:17 [debug] Diagnostics for board 50:
2025-04-24 14:34:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:22 ago, cause: software
2025-04-24 14:34:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:17 [debug] Moves scheduled 30560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=726, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3044376085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.6C, max 34
2025-04-24 14:34:17 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21201, writes 11 timeouts 1
2025-04-24 14:34:17 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35722/37171
2025-04-24 14:34:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:17 [info] currentZPosition:0.0362
2025-04-24 14:34:18 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:18 [debug] Diagnostics for board 50:
2025-04-24 14:34:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:23 ago, cause: software
2025-04-24 14:34:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:18 [debug] Moves scheduled 30564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3043303380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:34:18 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17992, writes 0 timeouts 0
2025-04-24 14:34:18 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35629/37156
2025-04-24 14:34:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:18 [info] currentZPosition:0.0363
2025-04-24 14:34:19 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:19 [debug] Diagnostics for board 50:
2025-04-24 14:34:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:24 ago, cause: software
2025-04-24 14:34:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:19 [debug] Moves scheduled 30568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3042299896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:34:19 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16854, writes 0 timeouts 0
2025-04-24 14:34:19 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35834/37097
2025-04-24 14:34:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8819, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:20 [info] currentZPosition:0.0376
2025-04-24 14:34:20 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:21 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:21 [debug] Diagnostics for board 50:
2025-04-24 14:34:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:26 ago, cause: software
2025-04-24 14:34:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:21 [debug] Moves scheduled 30574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3040966207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:34:21 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22376, writes 0 timeouts 0
2025-04-24 14:34:21 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36287/37143
2025-04-24 14:34:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:21 [info] currentZPosition:0.0360
2025-04-24 14:34:23 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:23 [debug] Diagnostics for board 50:
2025-04-24 14:34:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:36:27 ago, cause: software
2025-04-24 14:34:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:23 [debug] Moves scheduled 30578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3039971899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:34:23 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16696, writes 0 timeouts 0
2025-04-24 14:34:23 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 35937/37097
2025-04-24 14:34:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8837, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:23 [info] currentZPosition:0.0377
2025-04-24 14:34:23 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:23 [debug] Stopped at height 0.034 mm
2025-04-24 14:34:25 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:25 [debug] Diagnostics for board 50:
2025-04-24 14:34:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:30 ago, cause: software
2025-04-24 14:34:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:25 [debug] Moves scheduled 30586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3038365515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:34:25 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26944, writes 0 timeouts 0
2025-04-24 14:34:25 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36077/37141
2025-04-24 14:34:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:25 [info] currentZPosition:0.0354
2025-04-24 14:34:26 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:26 [debug] Diagnostics for board 50:
2025-04-24 14:34:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:31 ago, cause: software
2025-04-24 14:34:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:26 [debug] Moves scheduled 30590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 76, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3037351676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:34:26 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17003, writes 0 timeouts 0
2025-04-24 14:34:26 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36055/37122
2025-04-24 14:34:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:26 [info] currentZPosition:0.0361
2025-04-24 14:34:27 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:27 [debug] Diagnostics for board 50:
2025-04-24 14:34:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:32 ago, cause: software
2025-04-24 14:34:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:27 [debug] Moves scheduled 30594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3036289627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:34:27 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17836, writes 0 timeouts 0
2025-04-24 14:34:27 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35976/37107
2025-04-24 14:34:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:28 [info] currentZPosition:0.0364
2025-04-24 14:34:29 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:29 [debug] Diagnostics for board 50:
2025-04-24 14:34:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:34 ago, cause: software
2025-04-24 14:34:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:29 [debug] Moves scheduled 30598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3035251087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:34:29 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17434, writes 0 timeouts 0
2025-04-24 14:34:29 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35920/37091
2025-04-24 14:34:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:29 [info] currentZPosition:0.0356
2025-04-24 14:34:30 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:30 [debug] Diagnostics for board 50:
2025-04-24 14:34:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:35 ago, cause: software
2025-04-24 14:34:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:30 [debug] Moves scheduled 30602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3034207416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:34:30 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17498, writes 0 timeouts 0
2025-04-24 14:34:30 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35872/37091
2025-04-24 14:34:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:30 [info] currentZPosition:0.0370
2025-04-24 14:34:31 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:32 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:32 [debug] Diagnostics for board 50:
2025-04-24 14:34:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:37 ago, cause: software
2025-04-24 14:34:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:32 [debug] Moves scheduled 30608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3032928232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:34:32 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21459, writes 0 timeouts 0
2025-04-24 14:34:32 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36217/37142
2025-04-24 14:34:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:32 [info] currentZPosition:0.0359
2025-04-24 14:34:33 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:33 [debug] Diagnostics for board 50:
2025-04-24 14:34:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:38 ago, cause: software
2025-04-24 14:34:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:33 [debug] Moves scheduled 30612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter 0/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3031885708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:34:33 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17493, writes 0 timeouts 0
2025-04-24 14:34:33 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35748/37125
2025-04-24 14:34:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:33 [info] currentZPosition:0.0375
2025-04-24 14:34:34 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:35 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:35 [debug] Diagnostics for board 50:
2025-04-24 14:34:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:40 ago, cause: software
2025-04-24 14:34:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:35 [debug] Moves scheduled 30618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3030576151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:34:35 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21987, writes 0 timeouts 0
2025-04-24 14:34:35 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36251/37160
2025-04-24 14:34:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:35 [info] currentZPosition:0.0349
2025-04-24 14:34:36 [debug] Stopped at height 0.034 mm
2025-04-24 14:34:37 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:37 [debug] Diagnostics for board 50:
2025-04-24 14:34:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:42 ago, cause: software
2025-04-24 14:34:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:37 [debug] Moves scheduled 30624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3029285134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:34:37 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21683, writes 0 timeouts 0
2025-04-24 14:34:37 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35696/37166
2025-04-24 14:34:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:37 [info] currentZPosition:0.0361
2025-04-24 14:34:37 [debug] Stopped at height 0.034 mm
2025-04-24 14:34:39 [debug] Stopped at height 0.035 mm
2025-04-24 14:34:39 [debug] Diagnostics for board 50:
2025-04-24 14:34:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:43 ago, cause: software
2025-04-24 14:34:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:39 [debug] Moves scheduled 30630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3028013432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:34:39 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21322, writes 0 timeouts 0
2025-04-24 14:34:39 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36336/37111
2025-04-24 14:34:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:39 [info] currentZPosition:0.0352
2025-04-24 14:34:40 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:40 [debug] Diagnostics for board 50:
2025-04-24 14:34:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:45 ago, cause: software
2025-04-24 14:34:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:40 [debug] Moves scheduled 30634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3026958816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:34:40 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17712, writes 0 timeouts 0
2025-04-24 14:34:40 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36267/37098
2025-04-24 14:34:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:40 [info] currentZPosition:0.0358
2025-04-24 14:34:41 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:41 [debug] Diagnostics for board 50:
2025-04-24 14:34:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:46 ago, cause: software
2025-04-24 14:34:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:41 [debug] Moves scheduled 30638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3025938171 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:34:41 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17135, writes 0 timeouts 0
2025-04-24 14:34:41 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 404, adv 35683/37127
2025-04-24 14:34:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:41 [info] currentZPosition:0.0361
2025-04-24 14:34:43 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:43 [debug] Diagnostics for board 50:
2025-04-24 14:34:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:48 ago, cause: software
2025-04-24 14:34:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:43 [debug] Moves scheduled 30642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3024887300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:34:43 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17610, writes 0 timeouts 0
2025-04-24 14:34:43 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36105/37113
2025-04-24 14:34:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8841, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:43 [info] currentZPosition:0.0372
2025-04-24 14:34:44 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:44 [debug] Diagnostics for board 50:
2025-04-24 14:34:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:49 ago, cause: software
2025-04-24 14:34:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:44 [debug] Moves scheduled 30646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3023838720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:34:44 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17585, writes 0 timeouts 0
2025-04-24 14:34:44 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35745/37120
2025-04-24 14:34:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:44 [info] currentZPosition:0.0360
2025-04-24 14:34:46 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:46 [debug] Diagnostics for board 50:
2025-04-24 14:34:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:50 ago, cause: software
2025-04-24 14:34:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:46 [debug] Moves scheduled 30650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3022781093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:34:46 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17779, writes 0 timeouts 0
2025-04-24 14:34:46 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36027/37114
2025-04-24 14:34:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:46 [info] currentZPosition:0.0366
2025-04-24 14:34:47 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:47 [debug] Diagnostics for board 50:
2025-04-24 14:34:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:52 ago, cause: software
2025-04-24 14:34:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:47 [debug] Moves scheduled 30654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 83, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3021778163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:34:47 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16795, writes 0 timeouts 0
2025-04-24 14:34:47 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35861/37075
2025-04-24 14:34:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:47 [info] currentZPosition:0.0378
2025-04-24 14:34:48 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:48 [debug] Diagnostics for board 50:
2025-04-24 14:34:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:36:53 ago, cause: software
2025-04-24 14:34:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:48 [debug] Moves scheduled 30658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3020693614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:34:48 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18215, writes 0 timeouts 0
2025-04-24 14:34:48 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35937/37111
2025-04-24 14:34:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:48 [info] currentZPosition:0.0369
2025-04-24 14:34:50 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:50 [debug] Diagnostics for board 50:
2025-04-24 14:34:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:55 ago, cause: software
2025-04-24 14:34:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:50 [debug] Moves scheduled 30662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3019689924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:34:50 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16865, writes 0 timeouts 0
2025-04-24 14:34:50 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35991/37097
2025-04-24 14:34:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8856, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:50 [info] currentZPosition:0.0380
2025-04-24 14:34:51 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:51 [debug] Diagnostics for board 50:
2025-04-24 14:34:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:56 ago, cause: software
2025-04-24 14:34:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:51 [debug] Moves scheduled 30666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3018614974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:34:51 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18022, writes 0 timeouts 0
2025-04-24 14:34:51 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35755/37152
2025-04-24 14:34:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:51 [info] currentZPosition:0.0379
2025-04-24 14:34:52 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:52 [debug] Diagnostics for board 50:
2025-04-24 14:34:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:57 ago, cause: software
2025-04-24 14:34:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:52 [debug] Moves scheduled 30670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3017555877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:34:52 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17769, writes 0 timeouts 0
2025-04-24 14:34:52 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36027/37121
2025-04-24 14:34:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:53 [info] currentZPosition:0.0360
2025-04-24 14:34:53 [debug] Stopped at height 0.034 mm
2025-04-24 14:34:53 [debug] Stopped at height 0.033 mm
2025-04-24 14:34:54 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:54 [debug] Diagnostics for board 50:
2025-04-24 14:34:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:36:59 ago, cause: software
2025-04-24 14:34:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:54 [debug] Moves scheduled 30678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3016038937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:34:54 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25487, writes 0 timeouts 0
2025-04-24 14:34:54 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35638/37117
2025-04-24 14:34:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8811, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:55 [info] currentZPosition:0.0380
2025-04-24 14:34:55 [debug] Stopped at height 0.036 mm
2025-04-24 14:34:56 [debug] Stopped at height 0.038 mm
2025-04-24 14:34:56 [debug] Diagnostics for board 50:
2025-04-24 14:34:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:37:01 ago, cause: software
2025-04-24 14:34:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:56 [debug] Moves scheduled 30684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3014762055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:34:56 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21391, writes 0 timeouts 0
2025-04-24 14:34:56 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36120/37096
2025-04-24 14:34:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8855, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:56 [info] currentZPosition:0.0377
2025-04-24 14:34:58 [debug] Stopped at height 0.037 mm
2025-04-24 14:34:58 [debug] Diagnostics for board 50:
2025-04-24 14:34:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:03 ago, cause: software
2025-04-24 14:34:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:58 [debug] Moves scheduled 30688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3013675848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:34:58 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18242, writes 0 timeouts 0
2025-04-24 14:34:58 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36346/37075
2025-04-24 14:34:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:58 [info] currentZPosition:0.0367
2025-04-24 14:34:59 [debug] Stopped at height 0.039 mm
2025-04-24 14:34:59 [debug] Diagnostics for board 50:
2025-04-24 14:34:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:34:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:37:04 ago, cause: software
2025-04-24 14:34:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:34:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:34:59 [debug] Moves scheduled 30692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3012689435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:34:59 [debug] Driver 0: pos -3465, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16554, writes 0 timeouts 0
2025-04-24 14:34:59 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36210/37114
2025-04-24 14:34:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:34:59 [info] currentZPosition:0.0387
2025-04-24 14:34:59 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:01 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:01 [debug] Diagnostics for board 50:
2025-04-24 14:35:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:37:06 ago, cause: software
2025-04-24 14:35:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:01 [debug] Moves scheduled 30698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 98, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3011356037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:35:01 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22354, writes 0 timeouts 0
2025-04-24 14:35:01 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 426, adv 36150/37125
2025-04-24 14:35:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:01 [info] currentZPosition:0.0369
2025-04-24 14:35:02 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:02 [debug] Diagnostics for board 50:
2025-04-24 14:35:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:07 ago, cause: software
2025-04-24 14:35:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:02 [debug] Moves scheduled 30702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3010328273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:35:02 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17247, writes 0 timeouts 0
2025-04-24 14:35:02 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36288/37073
2025-04-24 14:35:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:02 [info] currentZPosition:0.0366
2025-04-24 14:35:04 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:04 [debug] Diagnostics for board 50:
2025-04-24 14:35:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:08 ago, cause: software
2025-04-24 14:35:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:04 [debug] Moves scheduled 30706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=10000, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3009264992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:35:04 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17838, writes 0 timeouts 0
2025-04-24 14:35:04 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36034/37110
2025-04-24 14:35:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:04 [info] currentZPosition:0.0368
2025-04-24 14:35:05 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:05 [debug] Diagnostics for board 50:
2025-04-24 14:35:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:10 ago, cause: software
2025-04-24 14:35:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:05 [debug] Moves scheduled 30710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3008229551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:35:05 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17373, writes 0 timeouts 0
2025-04-24 14:35:05 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35780/37125
2025-04-24 14:35:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:05 [info] currentZPosition:0.0362
2025-04-24 14:35:06 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:06 [debug] Diagnostics for board 50:
2025-04-24 14:35:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:37:11 ago, cause: software
2025-04-24 14:35:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:06 [debug] Moves scheduled 30714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3007164448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:35:06 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17863, writes 0 timeouts 0
2025-04-24 14:35:06 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35966/37099
2025-04-24 14:35:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:06 [info] currentZPosition:0.0366
2025-04-24 14:35:08 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:08 [debug] Diagnostics for board 50:
2025-04-24 14:35:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:13 ago, cause: software
2025-04-24 14:35:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:08 [debug] Moves scheduled 30718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 74, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3006128751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:35:08 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17382, writes 0 timeouts 0
2025-04-24 14:35:08 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36031/37124
2025-04-24 14:35:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:08 [info] currentZPosition:0.0362
2025-04-24 14:35:09 [debug] Stopped at height 0.034 mm
2025-04-24 14:35:09 [debug] Diagnostics for board 50:
2025-04-24 14:35:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:14 ago, cause: software
2025-04-24 14:35:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:09 [debug] Moves scheduled 30722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3005030637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:09 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18413, writes 0 timeouts 0
2025-04-24 14:35:09 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35851/37122
2025-04-24 14:35:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:09 [info] currentZPosition:0.0345
2025-04-24 14:35:10 [debug] Stopped at height 0.033 mm
2025-04-24 14:35:11 [debug] Stopped at height 0.035 mm
2025-04-24 14:35:11 [debug] Diagnostics for board 50:
2025-04-24 14:35:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:16 ago, cause: software
2025-04-24 14:35:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:11 [debug] Moves scheduled 30728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 67, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3003773947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:35:11 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21075, writes 0 timeouts 0
2025-04-24 14:35:11 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36093/37099
2025-04-24 14:35:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:11 [info] currentZPosition:0.0353
2025-04-24 14:35:11 [debug] Stopped at height 0.034 mm
2025-04-24 14:35:13 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:13 [debug] Diagnostics for board 50:
2025-04-24 14:35:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:17 ago, cause: software
2025-04-24 14:35:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:13 [debug] Moves scheduled 30734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3002491102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:35:13 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21519, writes 0 timeouts 0
2025-04-24 14:35:13 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35751/37126
2025-04-24 14:35:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:13 [info] currentZPosition:0.0363
2025-04-24 14:35:13 [debug] Stopped at height 0.035 mm
2025-04-24 14:35:14 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:14 [debug] Diagnostics for board 50:
2025-04-24 14:35:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:19 ago, cause: software
2025-04-24 14:35:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:14 [debug] Moves scheduled 30740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3001272479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:14 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20459, writes 0 timeouts 0
2025-04-24 14:35:14 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36145/37124
2025-04-24 14:35:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8842, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:14 [info] currentZPosition:0.0385
2025-04-24 14:35:15 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:15 [debug] Stopped at height 0.034 mm
2025-04-24 14:35:16 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:16 [debug] Diagnostics for board 50:
2025-04-24 14:35:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:21 ago, cause: software
2025-04-24 14:35:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:16 [debug] Moves scheduled 30748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2999718350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:16 [debug] Driver 0: pos -3474, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26083, writes 0 timeouts 0
2025-04-24 14:35:16 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 35588/37150
2025-04-24 14:35:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8812, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:16 [info] currentZPosition:0.0384
2025-04-24 14:35:17 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:17 [debug] Stopped at height 0.035 mm
2025-04-24 14:35:18 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:18 [debug] Diagnostics for board 50:
2025-04-24 14:35:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:23 ago, cause: software
2025-04-24 14:35:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:18 [debug] Moves scheduled 30756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2998181727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:18 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25800, writes 0 timeouts 0
2025-04-24 14:35:18 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36239/37139
2025-04-24 14:35:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:18 [info] currentZPosition:0.0370
2025-04-24 14:35:19 [debug] Stopped at height 0.035 mm
2025-04-24 14:35:20 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:20 [debug] Diagnostics for board 50:
2025-04-24 14:35:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:25 ago, cause: software
2025-04-24 14:35:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:20 [debug] Moves scheduled 30762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2996897704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:35:20 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21539, writes 0 timeouts 0
2025-04-24 14:35:20 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36275/37117
2025-04-24 14:35:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:20 [info] currentZPosition:0.0378
2025-04-24 14:35:20 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:22 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:22 [debug] Diagnostics for board 50:
2025-04-24 14:35:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:27 ago, cause: software
2025-04-24 14:35:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:22 [debug] Moves scheduled 30768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2995641466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:22 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21073, writes 0 timeouts 0
2025-04-24 14:35:22 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36379/37118
2025-04-24 14:35:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:22 [info] currentZPosition:0.0383
2025-04-24 14:35:23 [debug] Stopped at height 0.039 mm
2025-04-24 14:35:23 [debug] Diagnostics for board 50:
2025-04-24 14:35:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:28 ago, cause: software
2025-04-24 14:35:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:23 [debug] Moves scheduled 30772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2994583181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:35:23 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17766, writes 0 timeouts 0
2025-04-24 14:35:23 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36153/37109
2025-04-24 14:35:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:23 [info] currentZPosition:0.0386
2025-04-24 14:35:24 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:24 [debug] Diagnostics for board 50:
2025-04-24 14:35:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:29 ago, cause: software
2025-04-24 14:35:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:24 [debug] Moves scheduled 30776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2993548583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:35:24 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17385, writes 0 timeouts 0
2025-04-24 14:35:24 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 37069/37147
2025-04-24 14:35:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:25 [info] currentZPosition:0.0381
2025-04-24 14:35:26 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:26 [debug] Diagnostics for board 50:
2025-04-24 14:35:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:31 ago, cause: software
2025-04-24 14:35:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:26 [debug] Moves scheduled 30780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2992444059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:35:26 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18509, writes 0 timeouts 0
2025-04-24 14:35:26 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36056/37162
2025-04-24 14:35:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:26 [info] currentZPosition:0.0362
2025-04-24 14:35:26 [debug] Stopped at height 0.034 mm
2025-04-24 14:35:28 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:28 [debug] Diagnostics for board 50:
2025-04-24 14:35:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:33 ago, cause: software
2025-04-24 14:35:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:28 [debug] Moves scheduled 30786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2991187560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:35:28 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21086, writes 0 timeouts 0
2025-04-24 14:35:28 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35682/37099
2025-04-24 14:35:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:28 [info] currentZPosition:0.0370
2025-04-24 14:35:28 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:29 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:29 [debug] Diagnostics for board 50:
2025-04-24 14:35:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:34 ago, cause: software
2025-04-24 14:35:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:29 [debug] Moves scheduled 30792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2989910924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:35:29 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21455, writes 0 timeouts 0
2025-04-24 14:35:29 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35947/37121
2025-04-24 14:35:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:29 [info] currentZPosition:0.0382
2025-04-24 14:35:30 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:31 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:31 [debug] Diagnostics for board 50:
2025-04-24 14:35:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:37:36 ago, cause: software
2025-04-24 14:35:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:31 [debug] Moves scheduled 30798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2988625020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:35:31 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21551, writes 0 timeouts 0
2025-04-24 14:35:31 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35781/37119
2025-04-24 14:35:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:31 [info] currentZPosition:0.0366
2025-04-24 14:35:32 [debug] Stopped at height 0.039 mm
2025-04-24 14:35:32 [debug] Diagnostics for board 50:
2025-04-24 14:35:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:37 ago, cause: software
2025-04-24 14:35:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:32 [debug] Moves scheduled 30802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2987598485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:35:32 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17219, writes 0 timeouts 0
2025-04-24 14:35:32 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35847/37164
2025-04-24 14:35:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:33 [info] currentZPosition:0.0388
2025-04-24 14:35:33 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:34 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:34 [debug] Diagnostics for board 50:
2025-04-24 14:35:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:39 ago, cause: software
2025-04-24 14:35:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:34 [debug] Moves scheduled 30808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2986301006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:34 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21806, writes 0 timeouts 0
2025-04-24 14:35:34 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35835/37110
2025-04-24 14:35:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:34 [info] currentZPosition:0.0372
2025-04-24 14:35:36 [debug] Stopped at height 0.039 mm
2025-04-24 14:35:36 [debug] Diagnostics for board 50:
2025-04-24 14:35:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:40 ago, cause: software
2025-04-24 14:35:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:36 [debug] Moves scheduled 30812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2985266084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:35:36 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17325, writes 0 timeouts 0
2025-04-24 14:35:36 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35725/37118
2025-04-24 14:35:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:36 [info] currentZPosition:0.0391
2025-04-24 14:35:36 [debug] Stopped at height 0.039 mm
2025-04-24 14:35:37 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:37 [debug] Diagnostics for board 50:
2025-04-24 14:35:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:37:42 ago, cause: software
2025-04-24 14:35:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:37 [debug] Moves scheduled 30818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2983976388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:35:37 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21659, writes 0 timeouts 0
2025-04-24 14:35:37 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35887/37167
2025-04-24 14:35:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:37 [info] currentZPosition:0.0375
2025-04-24 14:35:38 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:38 [debug] Stopped at height 0.035 mm
2025-04-24 14:35:39 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:39 [debug] Diagnostics for board 50:
2025-04-24 14:35:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:44 ago, cause: software
2025-04-24 14:35:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:39 [debug] Moves scheduled 30826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2982421340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:39 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26088, writes 0 timeouts 0
2025-04-24 14:35:39 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35587/37164
2025-04-24 14:35:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:39 [info] currentZPosition:0.0377
2025-04-24 14:35:40 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:41 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:41 [debug] Diagnostics for board 50:
2025-04-24 14:35:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:46 ago, cause: software
2025-04-24 14:35:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:41 [debug] Moves scheduled 30832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2981171892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:35:41 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20981, writes 0 timeouts 0
2025-04-24 14:35:41 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35980/37145
2025-04-24 14:35:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8905, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:41 [info] currentZPosition:0.0385
2025-04-24 14:35:42 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:42 [debug] Diagnostics for board 50:
2025-04-24 14:35:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:37:47 ago, cause: software
2025-04-24 14:35:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:42 [debug] Moves scheduled 30836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -2/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2980105689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:35:42 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17900, writes 0 timeouts 0
2025-04-24 14:35:42 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36160/37170
2025-04-24 14:35:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:43 [info] currentZPosition:0.0383
2025-04-24 14:35:44 [debug] Stopped at height 0.039 mm
2025-04-24 14:35:44 [debug] Diagnostics for board 50:
2025-04-24 14:35:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:37:49 ago, cause: software
2025-04-24 14:35:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:44 [debug] Moves scheduled 30840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2979097005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:35:44 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16902, writes 0 timeouts 0
2025-04-24 14:35:44 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36018/37117
2025-04-24 14:35:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8818, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:44 [info] currentZPosition:0.0393
2025-04-24 14:35:45 [debug] Stopped at height 0.037 mm
2025-04-24 14:35:45 [debug] Diagnostics for board 50:
2025-04-24 14:35:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:50 ago, cause: software
2025-04-24 14:35:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:45 [debug] Moves scheduled 30844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 72, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2977988649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:35:45 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18610, writes 0 timeouts 0
2025-04-24 14:35:45 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36196/37147
2025-04-24 14:35:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:45 [info] currentZPosition:0.0370
2025-04-24 14:35:46 [debug] Stopped at height 0.035 mm
2025-04-24 14:35:47 [debug] Stopped at height 0.036 mm
2025-04-24 14:35:47 [debug] Diagnostics for board 50:
2025-04-24 14:35:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:52 ago, cause: software
2025-04-24 14:35:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:47 [debug] Moves scheduled 30850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=72, frequency (Hz): min=8620, max=15306
Sync err accum 77, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2976706006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:35:47 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21525, writes 0 timeouts 0
2025-04-24 14:35:47 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36102/37112
2025-04-24 14:35:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:47 [info] currentZPosition:0.0365
2025-04-24 14:35:48 [debug] Stopped at height 0.040 mm
2025-04-24 14:35:48 [debug] Diagnostics for board 50:
2025-04-24 14:35:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:53 ago, cause: software
2025-04-24 14:35:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:48 [debug] Moves scheduled 30854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2975703248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:35:48 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16843, writes 0 timeouts 0
2025-04-24 14:35:48 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 426, adv 35663/37076
2025-04-24 14:35:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 814
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:48 [info] currentZPosition:0.0401
2025-04-24 14:35:49 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:50 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:50 [debug] Diagnostics for board 50:
2025-04-24 14:35:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:55 ago, cause: software
2025-04-24 14:35:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:50 [debug] Moves scheduled 30860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2974409600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:35:50 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21695, writes 0 timeouts 0
2025-04-24 14:35:50 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36189/37125
2025-04-24 14:35:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8897, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:50 [info] currentZPosition:0.0383
2025-04-24 14:35:51 [debug] Stopped at height 0.040 mm
2025-04-24 14:35:51 [debug] Diagnostics for board 50:
2025-04-24 14:35:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:37:56 ago, cause: software
2025-04-24 14:35:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:51 [debug] Moves scheduled 30864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2973373054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:35:51 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17403, writes 0 timeouts 0
2025-04-24 14:35:51 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35955/37150
2025-04-24 14:35:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8825, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:51 [info] currentZPosition:0.0401
2025-04-24 14:35:52 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:53 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:53 [debug] Diagnostics for board 50:
2025-04-24 14:35:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:58 ago, cause: software
2025-04-24 14:35:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:53 [debug] Moves scheduled 30870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2972072664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:35:53 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21813, writes 0 timeouts 0
2025-04-24 14:35:53 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36303/37148
2025-04-24 14:35:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:53 [info] currentZPosition:0.0377
2025-04-24 14:35:55 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:55 [debug] Diagnostics for board 50:
2025-04-24 14:35:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:37:59 ago, cause: software
2025-04-24 14:35:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:55 [debug] Moves scheduled 30874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2971012018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:35:55 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17785, writes 0 timeouts 0
2025-04-24 14:35:55 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35900/37094
2025-04-24 14:35:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:55 [info] currentZPosition:0.0378
2025-04-24 14:35:56 [debug] Stopped at height 0.039 mm
2025-04-24 14:35:56 [debug] Diagnostics for board 50:
2025-04-24 14:35:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:38:01 ago, cause: software
2025-04-24 14:35:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:56 [debug] Moves scheduled 30878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2970012268 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:35:56 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16779, writes 0 timeouts 0
2025-04-24 14:35:56 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36348/37110
2025-04-24 14:35:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 817
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:56 [info] currentZPosition:0.0391
2025-04-24 14:35:56 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:58 [debug] Stopped at height 0.039 mm
2025-04-24 14:35:58 [debug] Diagnostics for board 50:
2025-04-24 14:35:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:02 ago, cause: software
2025-04-24 14:35:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:58 [debug] Moves scheduled 30884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2968702998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:35:58 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21957, writes 0 timeouts 0
2025-04-24 14:35:58 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35746/37113
2025-04-24 14:35:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:58 [info] currentZPosition:0.0386
2025-04-24 14:35:59 [debug] Stopped at height 0.038 mm
2025-04-24 14:35:59 [debug] Diagnostics for board 50:
2025-04-24 14:35:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:35:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:04 ago, cause: software
2025-04-24 14:35:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:35:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:35:59 [debug] Moves scheduled 30888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2967668223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:35:59 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17367, writes 0 timeouts 0
2025-04-24 14:35:59 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35604/37148
2025-04-24 14:35:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:35:59 [info] currentZPosition:0.0381
2025-04-24 14:36:00 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:00 [debug] Diagnostics for board 50:
2025-04-24 14:36:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:05 ago, cause: software
2025-04-24 14:36:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:00 [debug] Moves scheduled 30892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2966589127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:36:00 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18122, writes 0 timeouts 0
2025-04-24 14:36:00 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 35709/37118
2025-04-24 14:36:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:01 [info] currentZPosition:0.0377
2025-04-24 14:36:02 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:02 [debug] Diagnostics for board 50:
2025-04-24 14:36:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:07 ago, cause: software
2025-04-24 14:36:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:02 [debug] Moves scheduled 30896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2965591549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:36:02 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16726, writes 0 timeouts 0
2025-04-24 14:36:02 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35648/37090
2025-04-24 14:36:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8839, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:02 [info] currentZPosition:0.0393
2025-04-24 14:36:02 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:03 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:03 [debug] Diagnostics for board 50:
2025-04-24 14:36:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:08 ago, cause: software
2025-04-24 14:36:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:03 [debug] Moves scheduled 30902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 114, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2964305823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:36:03 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21568, writes 0 timeouts 0
2025-04-24 14:36:03 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36284/37140
2025-04-24 14:36:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8860, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:04 [info] currentZPosition:0.0399
2025-04-24 14:36:04 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:05 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:05 [debug] Diagnostics for board 50:
2025-04-24 14:36:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:10 ago, cause: software
2025-04-24 14:36:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:05 [debug] Moves scheduled 30908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 110, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2963053620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:36:05 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21027, writes 0 timeouts 0
2025-04-24 14:36:05 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35615/37123
2025-04-24 14:36:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8833, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:05 [info] currentZPosition:0.0403
2025-04-24 14:36:06 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:07 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:07 [debug] Diagnostics for board 50:
2025-04-24 14:36:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:12 ago, cause: software
2025-04-24 14:36:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:07 [debug] Moves scheduled 30914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2961706692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:36:07 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22615, writes 0 timeouts 0
2025-04-24 14:36:07 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36215/37139
2025-04-24 14:36:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:07 [info] currentZPosition:0.0381
2025-04-24 14:36:07 [debug] Stopped at height 0.036 mm
2025-04-24 14:36:08 [debug] Stopped at height 0.035 mm
2025-04-24 14:36:09 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:09 [debug] Diagnostics for board 50:
2025-04-24 14:36:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:14 ago, cause: software
2025-04-24 14:36:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:09 [debug] Moves scheduled 30922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2960190819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:36:09 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25459, writes 0 timeouts 0
2025-04-24 14:36:09 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36272/37134
2025-04-24 14:36:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:09 [info] currentZPosition:0.0379
2025-04-24 14:36:09 [debug] Stopped at height 0.036 mm
2025-04-24 14:36:11 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:11 [debug] Diagnostics for board 50:
2025-04-24 14:36:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:16 ago, cause: software
2025-04-24 14:36:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:11 [debug] Moves scheduled 30928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2958897768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:36:11 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21667, writes 0 timeouts 0
2025-04-24 14:36:11 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36117/37150
2025-04-24 14:36:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:11 [info] currentZPosition:0.0381
2025-04-24 14:36:11 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:12 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:12 [debug] Diagnostics for board 50:
2025-04-24 14:36:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:17 ago, cause: software
2025-04-24 14:36:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:12 [debug] Moves scheduled 30934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -3/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2957640923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:36:12 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21104, writes 0 timeouts 0
2025-04-24 14:36:12 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 35600/37149
2025-04-24 14:36:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:12 [info] currentZPosition:0.0381
2025-04-24 14:36:13 [debug] Stopped at height 0.036 mm
2025-04-24 14:36:14 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:14 [debug] Diagnostics for board 50:
2025-04-24 14:36:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:19 ago, cause: software
2025-04-24 14:36:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:14 [debug] Moves scheduled 30940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2956349662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:36:14 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21690, writes 0 timeouts 0
2025-04-24 14:36:14 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36051/37117
2025-04-24 14:36:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:14 [info] currentZPosition:0.0382
2025-04-24 14:36:15 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:16 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:16 [debug] Diagnostics for board 50:
2025-04-24 14:36:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:21 ago, cause: software
2025-04-24 14:36:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:16 [debug] Moves scheduled 30946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2955098406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:36:16 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20971, writes 0 timeouts 0
2025-04-24 14:36:16 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35668/37103
2025-04-24 14:36:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:16 [info] currentZPosition:0.0385
2025-04-24 14:36:16 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:18 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:18 [debug] Diagnostics for board 50:
2025-04-24 14:36:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:23 ago, cause: software
2025-04-24 14:36:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:18 [debug] Moves scheduled 30952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2953681610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:36:18 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23810, writes 0 timeouts 0
2025-04-24 14:36:18 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35954/37124
2025-04-24 14:36:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:18 [info] currentZPosition:0.0385
2025-04-24 14:36:18 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:19 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:19 [debug] Diagnostics for board 50:
2025-04-24 14:36:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:24 ago, cause: software
2025-04-24 14:36:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:19 [debug] Moves scheduled 30958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 106, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2952447679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:36:19 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20683, writes 0 timeouts 0
2025-04-24 14:36:19 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35719/37121
2025-04-24 14:36:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:19 [info] currentZPosition:0.0400
2025-04-24 14:36:20 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:21 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:21 [debug] Diagnostics for board 50:
2025-04-24 14:36:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:26 ago, cause: software
2025-04-24 14:36:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:21 [debug] Moves scheduled 30964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2951101504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:36:21 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22591, writes 0 timeouts 0
2025-04-24 14:36:21 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35853/37105
2025-04-24 14:36:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:21 [info] currentZPosition:0.0380
2025-04-24 14:36:22 [debug] Stopped at height 0.036 mm
2025-04-24 14:36:23 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:23 [debug] Diagnostics for board 50:
2025-04-24 14:36:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:28 ago, cause: software
2025-04-24 14:36:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:23 [debug] Moves scheduled 30970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 99, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2949845574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:36:23 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21092, writes 0 timeouts 0
2025-04-24 14:36:23 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35753/37139
2025-04-24 14:36:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:23 [info] currentZPosition:0.0389
2025-04-24 14:36:23 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:24 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:24 [debug] Diagnostics for board 50:
2025-04-24 14:36:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:29 ago, cause: software
2025-04-24 14:36:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:24 [debug] Moves scheduled 30976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2948542499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:36:24 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21864, writes 0 timeouts 0
2025-04-24 14:36:24 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35710/37130
2025-04-24 14:36:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:25 [info] currentZPosition:0.0388
2025-04-24 14:36:25 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:26 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:26 [debug] Diagnostics for board 50:
2025-04-24 14:36:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:38:31 ago, cause: software
2025-04-24 14:36:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:26 [debug] Moves scheduled 30982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 80, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2947287649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:36:26 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21042, writes 0 timeouts 0
2025-04-24 14:36:26 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35869/37139
2025-04-24 14:36:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:26 [info] currentZPosition:0.0389
2025-04-24 14:36:28 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:28 [debug] Diagnostics for board 50:
2025-04-24 14:36:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:32 ago, cause: software
2025-04-24 14:36:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:28 [debug] Moves scheduled 30986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2946230737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:36:28 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17745, writes 0 timeouts 0
2025-04-24 14:36:28 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35663/37168
2025-04-24 14:36:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:28 [info] currentZPosition:0.0392
2025-04-24 14:36:29 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:29 [debug] Diagnostics for board 50:
2025-04-24 14:36:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:34 ago, cause: software
2025-04-24 14:36:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:29 [debug] Moves scheduled 30990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2945180926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:36:29 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17607, writes 0 timeouts 0
2025-04-24 14:36:29 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 35876/37145
2025-04-24 14:36:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:29 [info] currentZPosition:0.0378
2025-04-24 14:36:29 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:31 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:31 [debug] Diagnostics for board 50:
2025-04-24 14:36:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:36 ago, cause: software
2025-04-24 14:36:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:31 [debug] Moves scheduled 30996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2943902533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:36:31 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21455, writes 0 timeouts 0
2025-04-24 14:36:31 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35629/37138
2025-04-24 14:36:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:31 [info] currentZPosition:0.0392
2025-04-24 14:36:31 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:32 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:32 [debug] Diagnostics for board 50:
2025-04-24 14:36:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:37 ago, cause: software
2025-04-24 14:36:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:32 [debug] Moves scheduled 31002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2942650672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:36:32 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21005, writes 0 timeouts 0
2025-04-24 14:36:32 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35972/37140
2025-04-24 14:36:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:32 [info] currentZPosition:0.0395
2025-04-24 14:36:33 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:34 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:34 [debug] Diagnostics for board 50:
2025-04-24 14:36:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:39 ago, cause: software
2025-04-24 14:36:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:34 [debug] Moves scheduled 31008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2941356680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:36:34 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21720, writes 0 timeouts 0
2025-04-24 14:36:34 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36242/37143
2025-04-24 14:36:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:34 [info] currentZPosition:0.0396
2025-04-24 14:36:35 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:36 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:36 [debug] Diagnostics for board 50:
2025-04-24 14:36:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:41 ago, cause: software
2025-04-24 14:36:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:36 [debug] Moves scheduled 31014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2940081098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:36:36 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21395, writes 0 timeouts 0
2025-04-24 14:36:36 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36026/37150
2025-04-24 14:36:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:36 [info] currentZPosition:0.0383
2025-04-24 14:36:37 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:37 [debug] Diagnostics for board 50:
2025-04-24 14:36:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:42 ago, cause: software
2025-04-24 14:36:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:37 [debug] Moves scheduled 31018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 76, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2939027264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:36:37 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17678, writes 0 timeouts 0
2025-04-24 14:36:37 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36210/37125
2025-04-24 14:36:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4588, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:37 [info] currentZPosition:0.0387
2025-04-24 14:36:39 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:39 [debug] Diagnostics for board 50:
2025-04-24 14:36:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:43 ago, cause: software
2025-04-24 14:36:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:39 [debug] Moves scheduled 31022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2938025940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:36:39 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16794, writes 0 timeouts 0
2025-04-24 14:36:39 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36059/37128
2025-04-24 14:36:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8868, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:39 [info] currentZPosition:0.0398
2025-04-24 14:36:40 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:40 [debug] Diagnostics for board 50:
2025-04-24 14:36:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:45 ago, cause: software
2025-04-24 14:36:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:40 [debug] Moves scheduled 31026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2936937879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:36:40 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18261, writes 0 timeouts 0
2025-04-24 14:36:40 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37147
2025-04-24 14:36:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:40 [info] currentZPosition:0.0383
2025-04-24 14:36:40 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:42 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:42 [debug] Diagnostics for board 50:
2025-04-24 14:36:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:46 ago, cause: software
2025-04-24 14:36:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:42 [debug] Moves scheduled 31032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2935704315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:36:42 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20703, writes 0 timeouts 0
2025-04-24 14:36:42 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36049/37117
2025-04-24 14:36:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:42 [info] currentZPosition:0.0398
2025-04-24 14:36:42 [debug] Stopped at height 0.037 mm
2025-04-24 14:36:43 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:43 [debug] Diagnostics for board 50:
2025-04-24 14:36:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:48 ago, cause: software
2025-04-24 14:36:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:43 [debug] Moves scheduled 31038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2934409087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:36:43 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21748, writes 0 timeouts 0
2025-04-24 14:36:43 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35999/37103
2025-04-24 14:36:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8892, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:43 [info] currentZPosition:0.0399
2025-04-24 14:36:44 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:45 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:45 [debug] Diagnostics for board 50:
2025-04-24 14:36:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:50 ago, cause: software
2025-04-24 14:36:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:45 [debug] Moves scheduled 31044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2933112721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:36:45 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21758, writes 0 timeouts 0
2025-04-24 14:36:45 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36149/37156
2025-04-24 14:36:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:45 [info] currentZPosition:0.0384
2025-04-24 14:36:46 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:46 [debug] Diagnostics for board 50:
2025-04-24 14:36:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:51 ago, cause: software
2025-04-24 14:36:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:46 [debug] Moves scheduled 31048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 99, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2932075427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:36:46 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17386, writes 0 timeouts 0
2025-04-24 14:36:46 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35912/37096
2025-04-24 14:36:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:47 [info] currentZPosition:0.0397
2025-04-24 14:36:47 [debug] Stopped at height 0.038 mm
2025-04-24 14:36:48 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:48 [debug] Diagnostics for board 50:
2025-04-24 14:36:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:38:53 ago, cause: software
2025-04-24 14:36:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:48 [debug] Moves scheduled 31054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2930805471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:36:48 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21320, writes 0 timeouts 0
2025-04-24 14:36:48 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36222/37146
2025-04-24 14:36:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:48 [info] currentZPosition:0.0389
2025-04-24 14:36:50 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:50 [debug] Diagnostics for board 50:
2025-04-24 14:36:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:54 ago, cause: software
2025-04-24 14:36:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:50 [debug] Moves scheduled 31058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2929750976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:36:50 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17724, writes 0 timeouts 0
2025-04-24 14:36:50 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35860/37145
2025-04-24 14:36:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:50 [info] currentZPosition:0.0393
2025-04-24 14:36:51 [debug] Stopped at height 0.041 mm
2025-04-24 14:36:51 [debug] Diagnostics for board 50:
2025-04-24 14:36:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:56 ago, cause: software
2025-04-24 14:36:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:51 [debug] Moves scheduled 31062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2928762436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:36:51 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16560, writes 0 timeouts 0
2025-04-24 14:36:51 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36326/37094
2025-04-24 14:36:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8850, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:51 [info] currentZPosition:0.0412
2025-04-24 14:36:51 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:53 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:53 [debug] Diagnostics for board 50:
2025-04-24 14:36:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:58 ago, cause: software
2025-04-24 14:36:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:53 [debug] Moves scheduled 31068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2927426064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:36:53 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22427, writes 0 timeouts 0
2025-04-24 14:36:53 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 35779/37124
2025-04-24 14:36:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:53 [info] currentZPosition:0.0392
2025-04-24 14:36:54 [debug] Stopped at height 0.041 mm
2025-04-24 14:36:54 [debug] Diagnostics for board 50:
2025-04-24 14:36:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:38:59 ago, cause: software
2025-04-24 14:36:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:54 [debug] Moves scheduled 31072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2926433181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:36:54 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16689, writes 0 timeouts 0
2025-04-24 14:36:54 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36328/37125
2025-04-24 14:36:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8881, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:54 [info] currentZPosition:0.0408
2025-04-24 14:36:54 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:56 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:56 [debug] Diagnostics for board 50:
2025-04-24 14:36:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:01 ago, cause: software
2025-04-24 14:36:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:56 [debug] Moves scheduled 31078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2925119573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:36:56 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22000, writes 0 timeouts 0
2025-04-24 14:36:56 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35725/37101
2025-04-24 14:36:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:56 [info] currentZPosition:0.0399
2025-04-24 14:36:57 [debug] Stopped at height 0.039 mm
2025-04-24 14:36:57 [debug] Diagnostics for board 50:
2025-04-24 14:36:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:02 ago, cause: software
2025-04-24 14:36:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:57 [debug] Moves scheduled 31082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2924087955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:36:57 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17325, writes 0 timeouts 0
2025-04-24 14:36:57 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35621/37113
2025-04-24 14:36:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4589, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:57 [info] currentZPosition:0.0395
2025-04-24 14:36:58 [debug] Stopped at height 0.040 mm
2025-04-24 14:36:58 [debug] Diagnostics for board 50:
2025-04-24 14:36:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:36:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:03 ago, cause: software
2025-04-24 14:36:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:36:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:36:58 [debug] Moves scheduled 31086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2923045027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:36:58 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17512, writes 0 timeouts 0
2025-04-24 14:36:58 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35656/37093
2025-04-24 14:36:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:36:59 [info] currentZPosition:0.0404
2025-04-24 14:37:00 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:00 [debug] Diagnostics for board 50:
2025-04-24 14:37:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:05 ago, cause: software
2025-04-24 14:37:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:00 [debug] Moves scheduled 31090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 88, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2922013858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:37:00 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17281, writes 0 timeouts 0
2025-04-24 14:37:00 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35616/37116
2025-04-24 14:37:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:00 [info] currentZPosition:0.0401
2025-04-24 14:37:01 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:01 [debug] Diagnostics for board 50:
2025-04-24 14:37:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:06 ago, cause: software
2025-04-24 14:37:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:01 [debug] Moves scheduled 31094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2920945840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:37:01 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17935, writes 0 timeouts 0
2025-04-24 14:37:01 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36314/37116
2025-04-24 14:37:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:01 [info] currentZPosition:0.0397
2025-04-24 14:37:03 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:03 [debug] Diagnostics for board 50:
2025-04-24 14:37:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:39:08 ago, cause: software
2025-04-24 14:37:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:03 [debug] Moves scheduled 31098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2919930017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:37:03 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17066, writes 0 timeouts 0
2025-04-24 14:37:03 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35733/37116
2025-04-24 14:37:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:03 [info] currentZPosition:0.0399
2025-04-24 14:37:04 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:04 [debug] Diagnostics for board 50:
2025-04-24 14:37:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:09 ago, cause: software
2025-04-24 14:37:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:04 [debug] Moves scheduled 31102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2918862825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:37:04 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17862, writes 0 timeouts 0
2025-04-24 14:37:04 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36211/37112
2025-04-24 14:37:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:04 [info] currentZPosition:0.0396
2025-04-24 14:37:05 [debug] Stopped at height 0.039 mm
2025-04-24 14:37:05 [debug] Diagnostics for board 50:
2025-04-24 14:37:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:10 ago, cause: software
2025-04-24 14:37:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:05 [debug] Moves scheduled 31106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 115, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2917838584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:37:05 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17203, writes 0 timeouts 0
2025-04-24 14:37:05 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 35883/37150
2025-04-24 14:37:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:06 [info] currentZPosition:0.0395
2025-04-24 14:37:07 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:07 [debug] Diagnostics for board 50:
2025-04-24 14:37:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:12 ago, cause: software
2025-04-24 14:37:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:07 [debug] Moves scheduled 31110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 115, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2916794876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:07 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17524, writes 0 timeouts 0
2025-04-24 14:37:07 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36191/37142
2025-04-24 14:37:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:07 [info] currentZPosition:0.0402
2025-04-24 14:37:08 [debug] Stopped at height 0.039 mm
2025-04-24 14:37:08 [debug] Diagnostics for board 50:
2025-04-24 14:37:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:39:13 ago, cause: software
2025-04-24 14:37:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:08 [debug] Moves scheduled 31114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 114, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2915751878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:37:08 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17481, writes 0 timeouts 0
2025-04-24 14:37:08 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36090/37122
2025-04-24 14:37:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:08 [info] currentZPosition:0.0394
2025-04-24 14:37:10 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:10 [debug] Diagnostics for board 50:
2025-04-24 14:37:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:14 ago, cause: software
2025-04-24 14:37:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:10 [debug] Moves scheduled 31118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2914708265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:37:10 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17504, writes 0 timeouts 0
2025-04-24 14:37:10 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36088/37114
2025-04-24 14:37:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:10 [info] currentZPosition:0.0402
2025-04-24 14:37:11 [debug] Stopped at height 0.039 mm
2025-04-24 14:37:11 [debug] Diagnostics for board 50:
2025-04-24 14:37:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:16 ago, cause: software
2025-04-24 14:37:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:11 [debug] Moves scheduled 31122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2913654649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 14:37:11 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17684, writes 0 timeouts 0
2025-04-24 14:37:11 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36150/37121
2025-04-24 14:37:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:11 [info] currentZPosition:0.0387
2025-04-24 14:37:11 [debug] Stopped at height 0.036 mm
2025-04-24 14:37:12 [debug] Stopped at height 0.037 mm
2025-04-24 14:37:13 [debug] Stopped at height 0.042 mm
2025-04-24 14:37:13 [debug] Diagnostics for board 50:
2025-04-24 14:37:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:18 ago, cause: software
2025-04-24 14:37:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:13 [debug] Moves scheduled 31130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2912173368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max
2025-04-24 14:37:13 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24863, writes 0 timeouts 0
2025-04-24 14:37:13 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35996/37123
2025-04-24 14:37:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8845, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:13 [info] currentZPosition:0.0416
2025-04-24 14:37:13 [debug] Stopped at height 0.039 mm
2025-04-24 14:37:14 [debug] Stopped at height 0.038 mm
2025-04-24 14:37:15 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:15 [debug] Diagnostics for board 50:
2025-04-24 14:37:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:20 ago, cause: software
2025-04-24 14:37:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:15 [debug] Moves scheduled 31138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2910649779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:37:15 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25556, writes 0 timeouts 0
2025-04-24 14:37:15 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 420, adv 36191/37141
2025-04-24 14:37:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:15 [info] currentZPosition:0.0414
2025-04-24 14:37:15 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:17 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:17 [debug] Diagnostics for board 50:
2025-04-24 14:37:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:22 ago, cause: software
2025-04-24 14:37:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:17 [debug] Moves scheduled 31144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -3/5, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2909327639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 
2025-04-24 14:37:17 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22192, writes 0 timeouts 0
2025-04-24 14:37:17 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36015/37119
2025-04-24 14:37:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:17 [info] currentZPosition:0.0404
2025-04-24 14:37:18 [debug] Stopped at height 0.042 mm
2025-04-24 14:37:18 [debug] Diagnostics for board 50:
2025-04-24 14:37:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:23 ago, cause: software
2025-04-24 14:37:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:18 [debug] Moves scheduled 31148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2908335825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 33.8C, max 3
2025-04-24 14:37:18 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16649, writes 0 timeouts 0
2025-04-24 14:37:18 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36162/37088
2025-04-24 14:37:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8838, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:18 [info] currentZPosition:0.0422
2025-04-24 14:37:19 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:20 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:20 [debug] Diagnostics for board 50:
2025-04-24 14:37:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:25 ago, cause: software
2025-04-24 14:37:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:20 [debug] Moves scheduled 31154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2907003099 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:37:20 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22354, writes 0 timeouts 0
2025-04-24 14:37:20 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35917/37085
2025-04-24 14:37:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:20 [info] currentZPosition:0.0402
2025-04-24 14:37:21 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:21 [debug] Diagnostics for board 50:
2025-04-24 14:37:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:26 ago, cause: software
2025-04-24 14:37:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:21 [debug] Moves scheduled 31158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 100, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2905981326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:21 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17148, writes 0 timeouts 0
2025-04-24 14:37:21 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36240/37106
2025-04-24 14:37:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:21 [info] currentZPosition:0.0404
2025-04-24 14:37:23 [debug] Stopped at height 0.042 mm
2025-04-24 14:37:23 [debug] Diagnostics for board 50:
2025-04-24 14:37:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:28 ago, cause: software
2025-04-24 14:37:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:23 [debug] Moves scheduled 31162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2904944286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:23 [debug] Driver 0: pos -3475, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17398, writes 0 timeouts 0
2025-04-24 14:37:23 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35896/37093
2025-04-24 14:37:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:23 [info] currentZPosition:0.0416
2025-04-24 14:37:24 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:24 [debug] Diagnostics for board 50:
2025-04-24 14:37:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:29 ago, cause: software
2025-04-24 14:37:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:24 [debug] Moves scheduled 31166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2903915863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:37:24 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17272, writes 0 timeouts 0
2025-04-24 14:37:24 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36297/37135
2025-04-24 14:37:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:24 [info] currentZPosition:0.0412
2025-04-24 14:37:25 [debug] Stopped at height 0.043 mm
2025-04-24 14:37:25 [debug] Diagnostics for board 50:
2025-04-24 14:37:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:30 ago, cause: software
2025-04-24 14:37:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:25 [debug] Moves scheduled 31170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2902879182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:37:25 [debug] Driver 0: pos -3463, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17402, writes 0 timeouts 0
2025-04-24 14:37:25 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35776/37093
2025-04-24 14:37:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8791, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:25 [info] currentZPosition:0.0427
2025-04-24 14:37:26 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:27 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:27 [debug] Diagnostics for board 50:
2025-04-24 14:37:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:32 ago, cause: software
2025-04-24 14:37:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:27 [debug] Moves scheduled 31176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 102, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2901493031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:37:27 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24929, writes 0 timeouts 0
2025-04-24 14:37:27 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36360/37137
2025-04-24 14:37:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8887, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:28 [info] currentZPosition:0.0412
2025-04-24 14:37:30 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:30 [debug] Diagnostics for board 50:
2025-04-24 14:37:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:35 ago, cause: software
2025-04-24 14:37:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:30 [debug] Moves scheduled 31180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2899390498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:30 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 34123, writes 0 timeouts 0
2025-04-24 14:37:30 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 65, send timeouts 0, received 26, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35678/37078
2025-04-24 14:37:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:30 [info] currentZPosition:0.0405
2025-04-24 14:37:31 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:31 [debug] Diagnostics for board 50:
2025-04-24 14:37:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:36 ago, cause: software
2025-04-24 14:37:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:31 [debug] Moves scheduled 31184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2898334553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:37:31 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17242, writes 0 timeouts 0
2025-04-24 14:37:31 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35621/37120
2025-04-24 14:37:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:32 [info] currentZPosition:0.0403
2025-04-24 14:37:33 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:33 [debug] Diagnostics for board 50:
2025-04-24 14:37:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:38 ago, cause: software
2025-04-24 14:37:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:33 [debug] Moves scheduled 31188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 59, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2897274885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:37:33 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17785, writes 0 timeouts 0
2025-04-24 14:37:33 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35693/37127
2025-04-24 14:37:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:33 [info] currentZPosition:0.0402
2025-04-24 14:37:34 [debug] Stopped at height 0.039 mm
2025-04-24 14:37:34 [debug] Diagnostics for board 50:
2025-04-24 14:37:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:39:39 ago, cause: software
2025-04-24 14:37:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:34 [debug] Moves scheduled 31192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2896231641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:37:34 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17516, writes 0 timeouts 0
2025-04-24 14:37:34 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35616/37115
2025-04-24 14:37:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:34 [info] currentZPosition:0.0392
2025-04-24 14:37:36 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:36 [debug] Diagnostics for board 50:
2025-04-24 14:37:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:41 ago, cause: software
2025-04-24 14:37:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:36 [debug] Moves scheduled 31196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2895191596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:37:36 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17449, writes 0 timeouts 0
2025-04-24 14:37:36 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 35613/37108
2025-04-24 14:37:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:36 [info] currentZPosition:0.0403
2025-04-24 14:37:37 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:37 [debug] Diagnostics for board 50:
2025-04-24 14:37:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:42 ago, cause: software
2025-04-24 14:37:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:37 [debug] Moves scheduled 31200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2894169093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:37:37 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17156, writes 0 timeouts 0
2025-04-24 14:37:37 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35685/37112
2025-04-24 14:37:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:37 [info] currentZPosition:0.0403
2025-04-24 14:37:38 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:38 [debug] Diagnostics for board 50:
2025-04-24 14:37:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:43 ago, cause: software
2025-04-24 14:37:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:38 [debug] Moves scheduled 31204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2893093892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:37:38 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18052, writes 0 timeouts 0
2025-04-24 14:37:38 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 323, adv 36321/37158
2025-04-24 14:37:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:39 [info] currentZPosition:0.0398
2025-04-24 14:37:40 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:40 [debug] Diagnostics for board 50:
2025-04-24 14:37:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:45 ago, cause: software
2025-04-24 14:37:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:40 [debug] Moves scheduled 31208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2892076143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:40 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17059, writes 0 timeouts 0
2025-04-24 14:37:40 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35721/37081
2025-04-24 14:37:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:40 [info] currentZPosition:0.0403
2025-04-24 14:37:41 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:41 [debug] Diagnostics for board 50:
2025-04-24 14:37:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:46 ago, cause: software
2025-04-24 14:37:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:41 [debug] Moves scheduled 31212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2891022315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:37:41 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17691, writes 0 timeouts 0
2025-04-24 14:37:41 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36238/37093
2025-04-24 14:37:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:41 [info] currentZPosition:0.0405
2025-04-24 14:37:42 [debug] Stopped at height 0.043 mm
2025-04-24 14:37:42 [debug] Diagnostics for board 50:
2025-04-24 14:37:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:47 ago, cause: software
2025-04-24 14:37:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:42 [debug] Moves scheduled 31216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2890037352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:37:42 [debug] Driver 0: pos -3466, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16537, writes 0 timeouts 0
2025-04-24 14:37:42 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35736/37101
2025-04-24 14:37:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 816
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8816, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:43 [info] currentZPosition:0.0428
2025-04-24 14:37:43 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:44 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:44 [debug] Diagnostics for board 50:
2025-04-24 14:37:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:49 ago, cause: software
2025-04-24 14:37:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:44 [debug] Moves scheduled 31222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2888682209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:37:44 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22723, writes 0 timeouts 0
2025-04-24 14:37:44 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36170/37146
2025-04-24 14:37:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:44 [info] currentZPosition:0.0397
2025-04-24 14:37:45 [debug] Stopped at height 0.038 mm
2025-04-24 14:37:46 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:46 [debug] Diagnostics for board 50:
2025-04-24 14:37:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:51 ago, cause: software
2025-04-24 14:37:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:46 [debug] Moves scheduled 31228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2887441764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:37:46 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20831, writes 0 timeouts 0
2025-04-24 14:37:46 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35758/37123
2025-04-24 14:37:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:46 [info] currentZPosition:0.0413
2025-04-24 14:37:46 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:48 [debug] Stopped at height 0.042 mm
2025-04-24 14:37:48 [debug] Diagnostics for board 50:
2025-04-24 14:37:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:53 ago, cause: software
2025-04-24 14:37:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:48 [debug] Moves scheduled 31234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 89, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2886156412 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:37:48 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21568, writes 0 timeouts 0
2025-04-24 14:37:48 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36113/37074
2025-04-24 14:37:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8865, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:48 [info] currentZPosition:0.0416
2025-04-24 14:37:48 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:49 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:49 [debug] Diagnostics for board 50:
2025-04-24 14:37:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:54 ago, cause: software
2025-04-24 14:37:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:49 [debug] Moves scheduled 31240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2884876397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:37:49 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21465, writes 0 timeouts 0
2025-04-24 14:37:49 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35813/37100
2025-04-24 14:37:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:49 [info] currentZPosition:0.0406
2025-04-24 14:37:51 [debug] Stopped at height 0.041 mm
2025-04-24 14:37:51 [debug] Diagnostics for board 50:
2025-04-24 14:37:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:39:56 ago, cause: software
2025-04-24 14:37:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:51 [debug] Moves scheduled 31244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2883821409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:37:51 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17749, writes 0 timeouts 0
2025-04-24 14:37:51 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 437, adv 36074/37107
2025-04-24 14:37:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:51 [info] currentZPosition:0.0408
2025-04-24 14:37:52 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:52 [debug] Diagnostics for board 50:
2025-04-24 14:37:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:39:57 ago, cause: software
2025-04-24 14:37:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:52 [debug] Moves scheduled 31248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter 0/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2882782527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:37:52 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17385, writes 0 timeouts 0
2025-04-24 14:37:52 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35806/37118
2025-04-24 14:37:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:52 [info] currentZPosition:0.0401
2025-04-24 14:37:54 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:54 [debug] Diagnostics for board 50:
2025-04-24 14:37:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:39:58 ago, cause: software
2025-04-24 14:37:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:54 [debug] Moves scheduled 31252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2881720215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:37:54 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17835, writes 0 timeouts 0
2025-04-24 14:37:54 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36016/37094
2025-04-24 14:37:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:54 [info] currentZPosition:0.0399
2025-04-24 14:37:55 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:55 [debug] Diagnostics for board 50:
2025-04-24 14:37:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:00 ago, cause: software
2025-04-24 14:37:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:55 [debug] Moves scheduled 31256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2880699404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:37:55 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17191, writes 0 timeouts 0
2025-04-24 14:37:55 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35828/37090
2025-04-24 14:37:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:55 [info] currentZPosition:0.0402
2025-04-24 14:37:56 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:56 [debug] Diagnostics for board 50:
2025-04-24 14:37:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:01 ago, cause: software
2025-04-24 14:37:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:56 [debug] Moves scheduled 31260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 105, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2879641404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:56 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17701, writes 0 timeouts 0
2025-04-24 14:37:56 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35957/37111
2025-04-24 14:37:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:56 [info] currentZPosition:0.0404
2025-04-24 14:37:58 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:58 [debug] Diagnostics for board 50:
2025-04-24 14:37:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:03 ago, cause: software
2025-04-24 14:37:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:58 [debug] Moves scheduled 31264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 114, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2878609405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:58 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17313, writes 0 timeouts 0
2025-04-24 14:37:58 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35890/37101
2025-04-24 14:37:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:58 [info] currentZPosition:0.0400
2025-04-24 14:37:59 [debug] Stopped at height 0.040 mm
2025-04-24 14:37:59 [debug] Diagnostics for board 50:
2025-04-24 14:37:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:37:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:04 ago, cause: software
2025-04-24 14:37:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:37:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:37:59 [debug] Moves scheduled 31268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 117, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2877553751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:37:59 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17743, writes 0 timeouts 0
2025-04-24 14:37:59 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 35943/37107
2025-04-24 14:37:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:37:59 [info] currentZPosition:0.0401
2025-04-24 14:38:01 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:01 [debug] Diagnostics for board 50:
2025-04-24 14:38:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:05 ago, cause: software
2025-04-24 14:38:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:01 [debug] Moves scheduled 31272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 119, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2876532862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:38:01 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17108, writes 0 timeouts 0
2025-04-24 14:38:01 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35926/37140
2025-04-24 14:38:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:01 [info] currentZPosition:0.0405
2025-04-24 14:38:02 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:02 [debug] Diagnostics for board 50:
2025-04-24 14:38:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:07 ago, cause: software
2025-04-24 14:38:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:02 [debug] Moves scheduled 31276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2875468642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:38:02 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17846, writes 0 timeouts 0
2025-04-24 14:38:02 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35854/37128
2025-04-24 14:38:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:02 [info] currentZPosition:0.0403
2025-04-24 14:38:03 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:03 [debug] Diagnostics for board 50:
2025-04-24 14:38:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:08 ago, cause: software
2025-04-24 14:38:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:03 [debug] Moves scheduled 31280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 111, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2874465884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:03 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16856, writes 0 timeouts 0
2025-04-24 14:38:03 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35807/37108
2025-04-24 14:38:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8903, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:03 [info] currentZPosition:0.0413
2025-04-24 14:38:05 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:05 [debug] Diagnostics for board 50:
2025-04-24 14:38:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:10 ago, cause: software
2025-04-24 14:38:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:05 [debug] Moves scheduled 31284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2873402537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:05 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17821, writes 0 timeouts 0
2025-04-24 14:38:05 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35844/37107
2025-04-24 14:38:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:05 [info] currentZPosition:0.0410
2025-04-24 14:38:06 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:06 [debug] Diagnostics for board 50:
2025-04-24 14:38:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:11 ago, cause: software
2025-04-24 14:38:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:06 [debug] Moves scheduled 31288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2872360405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:06 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17472, writes 0 timeouts 0
2025-04-24 14:38:06 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35757/37147
2025-04-24 14:38:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:06 [info] currentZPosition:0.0399
2025-04-24 14:38:07 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:07 [debug] Diagnostics for board 50:
2025-04-24 14:38:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:12 ago, cause: software
2025-04-24 14:38:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:07 [debug] Moves scheduled 31292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2871346003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:07 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17055, writes 0 timeouts 0
2025-04-24 14:38:07 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35785/37104
2025-04-24 14:38:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:08 [info] currentZPosition:0.0419
2025-04-24 14:38:08 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:09 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:09 [debug] Diagnostics for board 50:
2025-04-24 14:38:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:14 ago, cause: software
2025-04-24 14:38:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:09 [debug] Moves scheduled 31298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2870072627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:38:09 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21339, writes 0 timeouts 0
2025-04-24 14:38:09 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35753/37140
2025-04-24 14:38:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:09 [info] currentZPosition:0.0412
2025-04-24 14:38:11 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:11 [debug] Diagnostics for board 50:
2025-04-24 14:38:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:15 ago, cause: software
2025-04-24 14:38:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:11 [debug] Moves scheduled 31302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -1/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2869006195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:38:11 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17907, writes 0 timeouts 0
2025-04-24 14:38:11 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35757/37109
2025-04-24 14:38:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:11 [info] currentZPosition:0.0408
2025-04-24 14:38:12 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:12 [debug] Diagnostics for board 50:
2025-04-24 14:38:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:17 ago, cause: software
2025-04-24 14:38:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:12 [debug] Moves scheduled 31306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2867971995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:38:12 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17352, writes 0 timeouts 0
2025-04-24 14:38:12 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35756/37141
2025-04-24 14:38:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:12 [info] currentZPosition:0.0404
2025-04-24 14:38:13 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:13 [debug] Diagnostics for board 50:
2025-04-24 14:38:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:40:18 ago, cause: software
2025-04-24 14:38:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:13 [debug] Moves scheduled 31310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2866938391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:38:13 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17349, writes 0 timeouts 0
2025-04-24 14:38:13 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35734/37121
2025-04-24 14:38:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:13 [info] currentZPosition:0.0417
2025-04-24 14:38:14 [debug] Stopped at height 0.039 mm
2025-04-24 14:38:14 [debug] Stopped at height 0.039 mm
2025-04-24 14:38:15 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:15 [debug] Diagnostics for board 50:
2025-04-24 14:38:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:20 ago, cause: software
2025-04-24 14:38:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:15 [debug] Moves scheduled 31318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 100, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2865419264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:38:15 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25501, writes 0 timeouts 0
2025-04-24 14:38:15 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35778/37127
2025-04-24 14:38:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:15 [info] currentZPosition:0.0414
2025-04-24 14:38:16 [debug] Stopped at height 0.039 mm
2025-04-24 14:38:17 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:17 [debug] Diagnostics for board 50:
2025-04-24 14:38:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:22 ago, cause: software
2025-04-24 14:38:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:17 [debug] Moves scheduled 31324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2864103273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:38:17 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22076, writes 0 timeouts 0
2025-04-24 14:38:17 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35707/37135
2025-04-24 14:38:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:17 [info] currentZPosition:0.0401
2025-04-24 14:38:18 [debug] Stopped at height 0.043 mm
2025-04-24 14:38:18 [debug] Diagnostics for board 50:
2025-04-24 14:38:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:40:23 ago, cause: software
2025-04-24 14:38:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:18 [debug] Moves scheduled 31328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 104, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2863131524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:18 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16315, writes 0 timeouts 0
2025-04-24 14:38:18 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35841/37113
2025-04-24 14:38:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8869, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:18 [info] currentZPosition:0.0426
2025-04-24 14:38:19 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:20 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:20 [debug] Diagnostics for board 50:
2025-04-24 14:38:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:25 ago, cause: software
2025-04-24 14:38:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:20 [debug] Moves scheduled 31334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2861797120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:20 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22390, writes 0 timeouts 0
2025-04-24 14:38:20 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35682/37133
2025-04-24 14:38:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:20 [info] currentZPosition:0.0403
2025-04-24 14:38:21 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:21 [debug] Diagnostics for board 50:
2025-04-24 14:38:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:26 ago, cause: software
2025-04-24 14:38:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:21 [debug] Moves scheduled 31338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2860801302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:38:21 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16719, writes 0 timeouts 0
2025-04-24 14:38:21 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35884/37130
2025-04-24 14:38:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:22 [info] currentZPosition:0.0416
2025-04-24 14:38:22 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:23 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:23 [debug] Diagnostics for board 50:
2025-04-24 14:38:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:28 ago, cause: software
2025-04-24 14:38:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:23 [debug] Moves scheduled 31344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter -3/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2859509714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:38:23 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21685, writes 0 timeouts 0
2025-04-24 14:38:23 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35607/37166
2025-04-24 14:38:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:23 [info] currentZPosition:0.0416
2025-04-24 14:38:24 [debug] Stopped at height 0.039 mm
2025-04-24 14:38:25 [debug] Stopped at height 0.043 mm
2025-04-24 14:38:25 [debug] Diagnostics for board 50:
2025-04-24 14:38:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:30 ago, cause: software
2025-04-24 14:38:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:25 [debug] Moves scheduled 31350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2858273848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:25 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20729, writes 0 timeouts 0
2025-04-24 14:38:25 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35884/37127
2025-04-24 14:38:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8874, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:25 [info] currentZPosition:0.0425
2025-04-24 14:38:25 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:26 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:27 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:27 [debug] Diagnostics for board 50:
2025-04-24 14:38:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:32 ago, cause: software
2025-04-24 14:38:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:27 [debug] Moves scheduled 31358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2856723117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:38:27 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26024, writes 0 timeouts 0
2025-04-24 14:38:27 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36324/37134
2025-04-24 14:38:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:27 [info] currentZPosition:0.0419
2025-04-24 14:38:27 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:29 [debug] Stopped at height 0.043 mm
2025-04-24 14:38:29 [debug] Diagnostics for board 50:
2025-04-24 14:38:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:33 ago, cause: software
2025-04-24 14:38:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:29 [debug] Moves scheduled 31364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2855485160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:38:29 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20776, writes 0 timeouts 0
2025-04-24 14:38:29 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35910/37165
2025-04-24 14:38:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8879, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:29 [info] currentZPosition:0.0426
2025-04-24 14:38:29 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:30 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:30 [debug] Diagnostics for board 50:
2025-04-24 14:38:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:35 ago, cause: software
2025-04-24 14:38:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:30 [debug] Moves scheduled 31370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2854158808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:38:30 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22266, writes 0 timeouts 0
2025-04-24 14:38:30 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36279/37141
2025-04-24 14:38:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:30 [info] currentZPosition:0.0410
2025-04-24 14:38:32 [debug] Stopped at height 0.043 mm
2025-04-24 14:38:32 [debug] Diagnostics for board 50:
2025-04-24 14:38:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:37 ago, cause: software
2025-04-24 14:38:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:32 [debug] Moves scheduled 31374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 109, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2853171276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:38:32 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16557, writes 0 timeouts 0
2025-04-24 14:38:32 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 35927/37139
2025-04-24 14:38:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8872, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:32 [info] currentZPosition:0.0428
2025-04-24 14:38:32 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:33 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:33 [debug] Diagnostics for board 50:
2025-04-24 14:38:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:38 ago, cause: software
2025-04-24 14:38:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:33 [debug] Moves scheduled 31380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 116, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2851856900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:38:33 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22111, writes 0 timeouts 0
2025-04-24 14:38:33 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36302/37120
2025-04-24 14:38:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:34 [info] currentZPosition:0.0416
2025-04-24 14:38:35 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:35 [debug] Diagnostics for board 50:
2025-04-24 14:38:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:40 ago, cause: software
2025-04-24 14:38:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:35 [debug] Moves scheduled 31384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 120, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2850825336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:38:35 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17243, writes 0 timeouts 0
2025-04-24 14:38:35 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35917/37144
2025-04-24 14:38:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:35 [info] currentZPosition:0.0416
2025-04-24 14:38:36 [debug] Stopped at height 0.044 mm
2025-04-24 14:38:36 [debug] Diagnostics for board 50:
2025-04-24 14:38:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:41 ago, cause: software
2025-04-24 14:38:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:36 [debug] Moves scheduled 31388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 119, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2849807786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:38:36 [debug] Driver 0: pos -3472, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17064, writes 0 timeouts 0
2025-04-24 14:38:36 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36239/37129
2025-04-24 14:38:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8813, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:36 [info] currentZPosition:0.0436
2025-04-24 14:38:37 [debug] Stopped at height 0.044 mm
2025-04-24 14:38:38 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:38 [debug] Diagnostics for board 50:
2025-04-24 14:38:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:43 ago, cause: software
2025-04-24 14:38:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:38 [debug] Moves scheduled 31394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 114, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2848514730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:38:38 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21795, writes 0 timeouts 0
2025-04-24 14:38:38 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35973/37119
2025-04-24 14:38:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:38 [info] currentZPosition:0.0415
2025-04-24 14:38:38 [debug] Stopped at height 0.040 mm
2025-04-24 14:38:40 [debug] Stopped at height 0.043 mm
2025-04-24 14:38:40 [debug] Diagnostics for board 50:
2025-04-24 14:38:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:44 ago, cause: software
2025-04-24 14:38:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:40 [debug] Moves scheduled 31400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15306
Sync err accum 108, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2847230436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:38:40 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21456, writes 0 timeouts 0
2025-04-24 14:38:40 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36301/37144
2025-04-24 14:38:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:40 [info] currentZPosition:0.0427
2025-04-24 14:38:40 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:41 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:41 [debug] Diagnostics for board 50:
2025-04-24 14:38:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:46 ago, cause: software
2025-04-24 14:38:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:41 [debug] Moves scheduled 31406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2845949707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:38:41 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21499, writes 0 timeouts 0
2025-04-24 14:38:41 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35965/37118
2025-04-24 14:38:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:41 [info] currentZPosition:0.0414
2025-04-24 14:38:43 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:43 [debug] Diagnostics for board 50:
2025-04-24 14:38:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:48 ago, cause: software
2025-04-24 14:38:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:43 [debug] Moves scheduled 31410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2844884627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:38:43 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17899, writes 0 timeouts 0
2025-04-24 14:38:43 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36210/37154
2025-04-24 14:38:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:43 [info] currentZPosition:0.0409
2025-04-24 14:38:44 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:44 [debug] Diagnostics for board 50:
2025-04-24 14:38:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:49 ago, cause: software
2025-04-24 14:38:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:44 [debug] Moves scheduled 31414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2843879959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:44 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16827, writes 0 timeouts 0
2025-04-24 14:38:44 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36037/37145
2025-04-24 14:38:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:44 [info] currentZPosition:0.0420
2025-04-24 14:38:45 [debug] Stopped at height 0.043 mm
2025-04-24 14:38:45 [debug] Diagnostics for board 50:
2025-04-24 14:38:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:50 ago, cause: software
2025-04-24 14:38:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:45 [debug] Moves scheduled 31418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -4/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2842845803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:38:45 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17346, writes 0 timeouts 0
2025-04-24 14:38:45 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36169/37141
2025-04-24 14:38:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8846, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:46 [info] currentZPosition:0.0432
2025-04-24 14:38:47 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:47 [debug] Diagnostics for board 50:
2025-04-24 14:38:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:52 ago, cause: software
2025-04-24 14:38:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:47 [debug] Moves scheduled 31422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2841807388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:38:47 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17451, writes 0 timeouts 0
2025-04-24 14:38:47 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 35981/37091
2025-04-24 14:38:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:47 [info] currentZPosition:0.0423
2025-04-24 14:38:48 [debug] Stopped at height 0.044 mm
2025-04-24 14:38:48 [debug] Diagnostics for board 50:
2025-04-24 14:38:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:53 ago, cause: software
2025-04-24 14:38:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:48 [debug] Moves scheduled 31426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2840784757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:38:48 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17148, writes 0 timeouts 0
2025-04-24 14:38:48 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36174/37154
2025-04-24 14:38:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8827, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 815
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:48 [info] currentZPosition:0.0444
2025-04-24 14:38:49 [debug] Stopped at height 0.044 mm
2025-04-24 14:38:50 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:50 [debug] Diagnostics for board 50:
2025-04-24 14:38:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:55 ago, cause: software
2025-04-24 14:38:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:50 [debug] Moves scheduled 31432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2839467742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:38:50 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22101, writes 0 timeouts 0
2025-04-24 14:38:50 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35695/37114
2025-04-24 14:38:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:50 [info] currentZPosition:0.0414
2025-04-24 14:38:50 [debug] Stopped at height 0.039 mm
2025-04-24 14:38:51 [debug] Stopped at height 0.039 mm
2025-04-24 14:38:52 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:52 [debug] Diagnostics for board 50:
2025-04-24 14:38:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:40:57 ago, cause: software
2025-04-24 14:38:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:52 [debug] Moves scheduled 31440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 105, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2837924742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:38:52 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25893, writes 0 timeouts 0
2025-04-24 14:38:52 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36101/37140
2025-04-24 14:38:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:52 [info] currentZPosition:0.0416
2025-04-24 14:38:52 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:54 [debug] Stopped at height 0.043 mm
2025-04-24 14:38:54 [debug] Diagnostics for board 50:
2025-04-24 14:38:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:40:59 ago, cause: software
2025-04-24 14:38:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:54 [debug] Moves scheduled 31446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2836688321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:54 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20745, writes 0 timeouts 0
2025-04-24 14:38:54 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36030/37121
2025-04-24 14:38:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8888, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:54 [info] currentZPosition:0.0426
2025-04-24 14:38:54 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:55 [debug] Stopped at height 0.041 mm
2025-04-24 14:38:55 [debug] Diagnostics for board 50:
2025-04-24 14:38:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:00 ago, cause: software
2025-04-24 14:38:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:55 [debug] Moves scheduled 31452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2835367960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:38:55 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22156, writes 0 timeouts 0
2025-04-24 14:38:55 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36074/37099
2025-04-24 14:38:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:55 [info] currentZPosition:0.0414
2025-04-24 14:38:57 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:57 [debug] Diagnostics for board 50:
2025-04-24 14:38:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:02 ago, cause: software
2025-04-24 14:38:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:57 [debug] Moves scheduled 31456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2834358259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:38:57 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16942, writes 0 timeouts 0
2025-04-24 14:38:57 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36030/37135
2025-04-24 14:38:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:57 [info] currentZPosition:0.0421
2025-04-24 14:38:58 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:58 [debug] Diagnostics for board 50:
2025-04-24 14:38:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:03 ago, cause: software
2025-04-24 14:38:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:58 [debug] Moves scheduled 31460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2833294900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:38:58 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17835, writes 0 timeouts 0
2025-04-24 14:38:58 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36159/37112
2025-04-24 14:38:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:38:58 [info] currentZPosition:0.0417
2025-04-24 14:38:59 [debug] Stopped at height 0.042 mm
2025-04-24 14:38:59 [debug] Diagnostics for board 50:
2025-04-24 14:38:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:38:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:41:04 ago, cause: software
2025-04-24 14:38:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:38:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:38:59 [debug] Moves scheduled 31464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 81, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2832284069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:38:59 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16962, writes 0 timeouts 0
2025-04-24 14:38:59 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36064/37092
2025-04-24 14:38:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8925, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:00 [info] currentZPosition:0.0424
2025-04-24 14:39:01 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:01 [debug] Diagnostics for board 50:
2025-04-24 14:39:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:41:06 ago, cause: software
2025-04-24 14:39:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:01 [debug] Moves scheduled 31468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2831215551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:01 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17927, writes 0 timeouts 0
2025-04-24 14:39:01 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36110/37107
2025-04-24 14:39:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:01 [info] currentZPosition:0.0418
2025-04-24 14:39:02 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:02 [debug] Diagnostics for board 50:
2025-04-24 14:39:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:07 ago, cause: software
2025-04-24 14:39:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:02 [debug] Moves scheduled 31472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -3/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2830216285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:39:02 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16771, writes 0 timeouts 0
2025-04-24 14:39:02 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36154/37131
2025-04-24 14:39:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:02 [info] currentZPosition:0.0430
2025-04-24 14:39:04 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:04 [debug] Diagnostics for board 50:
2025-04-24 14:39:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:09 ago, cause: software
2025-04-24 14:39:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:04 [debug] Moves scheduled 31476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 2/4, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2829149168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:39:04 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17893, writes 0 timeouts 0
2025-04-24 14:39:04 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36058/37162
2025-04-24 14:39:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:04 [info] currentZPosition:0.0427
2025-04-24 14:39:05 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:05 [debug] Diagnostics for board 50:
2025-04-24 14:39:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:10 ago, cause: software
2025-04-24 14:39:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:05 [debug] Moves scheduled 31480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2828116113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:39:05 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17330, writes 0 timeouts 0
2025-04-24 14:39:05 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36341/37147
2025-04-24 14:39:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:05 [info] currentZPosition:0.0422
2025-04-24 14:39:06 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:06 [debug] Diagnostics for board 50:
2025-04-24 14:39:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:11 ago, cause: software
2025-04-24 14:39:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:06 [debug] Moves scheduled 31484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 97, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2827060318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:39:06 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17725, writes 0 timeouts 0
2025-04-24 14:39:06 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36069/37145
2025-04-24 14:39:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:07 [info] currentZPosition:0.0424
2025-04-24 14:39:08 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:08 [debug] Diagnostics for board 50:
2025-04-24 14:39:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:13 ago, cause: software
2025-04-24 14:39:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:08 [debug] Moves scheduled 31488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2826051903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:39:08 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16913, writes 0 timeouts 0
2025-04-24 14:39:08 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36352/37121
2025-04-24 14:39:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8870, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:08 [info] currentZPosition:0.0433
2025-04-24 14:39:09 [debug] Stopped at height 0.045 mm
2025-04-24 14:39:09 [debug] Diagnostics for board 50:
2025-04-24 14:39:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:14 ago, cause: software
2025-04-24 14:39:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:09 [debug] Moves scheduled 31492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 105, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2825020484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:39:09 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17312, writes 0 timeouts 0
2025-04-24 14:39:09 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36034/37153
2025-04-24 14:39:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8836, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:09 [info] currentZPosition:0.0447
2025-04-24 14:39:10 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:11 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:11 [debug] Diagnostics for board 50:
2025-04-24 14:39:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:16 ago, cause: software
2025-04-24 14:39:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:11 [debug] Moves scheduled 31498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2823722740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:11 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21784, writes 0 timeouts 0
2025-04-24 14:39:11 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36282/37169
2025-04-24 14:39:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:11 [info] currentZPosition:0.0425
2025-04-24 14:39:12 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:12 [debug] Diagnostics for board 50:
2025-04-24 14:39:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:17 ago, cause: software
2025-04-24 14:39:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:12 [debug] Moves scheduled 31502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2822653793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:12 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17933, writes 0 timeouts 0
2025-04-24 14:39:12 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36048/37137
2025-04-24 14:39:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:12 [info] currentZPosition:0.0418
2025-04-24 14:39:14 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:14 [debug] Diagnostics for board 50:
2025-04-24 14:39:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:19 ago, cause: software
2025-04-24 14:39:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:14 [debug] Moves scheduled 31506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 97, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2821644722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:14 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16961, writes 0 timeouts 0
2025-04-24 14:39:14 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36337/37170
2025-04-24 14:39:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:14 [info] currentZPosition:0.0427
2025-04-24 14:39:15 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:15 [debug] Diagnostics for board 50:
2025-04-24 14:39:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:20 ago, cause: software
2025-04-24 14:39:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:15 [debug] Moves scheduled 31510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2820578057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:15 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17877, writes 0 timeouts 0
2025-04-24 14:39:15 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36007/37113
2025-04-24 14:39:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:15 [info] currentZPosition:0.0422
2025-04-24 14:39:16 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:16 [debug] Diagnostics for board 50:
2025-04-24 14:39:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:21 ago, cause: software
2025-04-24 14:39:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:16 [debug] Moves scheduled 31514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2819546667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:16 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17302, writes 0 timeouts 0
2025-04-24 14:39:16 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 409, adv 36278/37122
2025-04-24 14:39:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:17 [info] currentZPosition:0.0419
2025-04-24 14:39:18 [debug] Stopped at height 0.045 mm
2025-04-24 14:39:18 [debug] Diagnostics for board 50:
2025-04-24 14:39:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:23 ago, cause: software
2025-04-24 14:39:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:18 [debug] Moves scheduled 31518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2818535566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:39:18 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16977, writes 0 timeouts 0
2025-04-24 14:39:18 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36062/37156
2025-04-24 14:39:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8802, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:18 [info] currentZPosition:0.0446
2025-04-24 14:39:18 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:20 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:20 [debug] Diagnostics for board 50:
2025-04-24 14:39:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:24 ago, cause: software
2025-04-24 14:39:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:20 [debug] Moves scheduled 31524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -3/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2817251176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:20 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21547, writes 0 timeouts 0
2025-04-24 14:39:20 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36323/37090
2025-04-24 14:39:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:20 [info] currentZPosition:0.0430
2025-04-24 14:39:20 [debug] Stopped at height 0.041 mm
2025-04-24 14:39:21 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:21 [debug] Diagnostics for board 50:
2025-04-24 14:39:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:26 ago, cause: software
2025-04-24 14:39:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:21 [debug] Moves scheduled 31530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2815963677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:39:21 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21611, writes 0 timeouts 0
2025-04-24 14:39:21 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36001/37071
2025-04-24 14:39:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8871, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:21 [info] currentZPosition:0.0432
2025-04-24 14:39:22 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:23 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:23 [debug] Diagnostics for board 50:
2025-04-24 14:39:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:28 ago, cause: software
2025-04-24 14:39:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:23 [debug] Moves scheduled 31536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 101, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2814729153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:23 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20717, writes 0 timeouts 0
2025-04-24 14:39:23 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36328/37153
2025-04-24 14:39:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8810, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:23 [info] currentZPosition:0.0443
2025-04-24 14:39:23 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:25 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:25 [debug] Diagnostics for board 50:
2025-04-24 14:39:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:30 ago, cause: software
2025-04-24 14:39:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:25 [debug] Moves scheduled 31542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2813391146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:39:25 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22488, writes 0 timeouts 0
2025-04-24 14:39:25 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36003/37132
2025-04-24 14:39:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:25 [info] currentZPosition:0.0422
2025-04-24 14:39:25 [debug] Stopped at height 0.041 mm
2025-04-24 14:39:26 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:26 [debug] Diagnostics for board 50:
2025-04-24 14:39:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:31 ago, cause: software
2025-04-24 14:39:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:26 [debug] Moves scheduled 31548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2812135969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:39:26 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21035, writes 0 timeouts 0
2025-04-24 14:39:26 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36344/37142
2025-04-24 14:39:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:26 [info] currentZPosition:0.0430
2025-04-24 14:39:28 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:28 [debug] Diagnostics for board 50:
2025-04-24 14:39:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:33 ago, cause: software
2025-04-24 14:39:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:28 [debug] Moves scheduled 31552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 108, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2811067444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:28 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17954, writes 0 timeouts 0
2025-04-24 14:39:28 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36073/37099
2025-04-24 14:39:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:28 [info] currentZPosition:0.0425
2025-04-24 14:39:29 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:29 [debug] Diagnostics for board 50:
2025-04-24 14:39:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:34 ago, cause: software
2025-04-24 14:39:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:29 [debug] Moves scheduled 31556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 104, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2810041384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:39:29 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17221, writes 0 timeouts 0
2025-04-24 14:39:29 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36329/37144
2025-04-24 14:39:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:29 [info] currentZPosition:0.0425
2025-04-24 14:39:31 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:31 [debug] Diagnostics for board 50:
2025-04-24 14:39:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:35 ago, cause: software
2025-04-24 14:39:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:31 [debug] Moves scheduled 31560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2808990870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:31 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17609, writes 0 timeouts 0
2025-04-24 14:39:31 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36043/37121
2025-04-24 14:39:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:31 [info] currentZPosition:0.0429
2025-04-24 14:39:32 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:32 [debug] Diagnostics for board 50:
2025-04-24 14:39:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:37 ago, cause: software
2025-04-24 14:39:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:32 [debug] Moves scheduled 31564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=14705
Sync err accum 86, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2807982507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:32 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16920, writes 0 timeouts 0
2025-04-24 14:39:32 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36316/37126
2025-04-24 14:39:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:32 [info] currentZPosition:0.0437
2025-04-24 14:39:33 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:33 [debug] Diagnostics for board 50:
2025-04-24 14:39:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:38 ago, cause: software
2025-04-24 14:39:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:33 [debug] Moves scheduled 31568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2806936755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:39:33 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17580, writes 0 timeouts 0
2025-04-24 14:39:33 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36029/37131
2025-04-24 14:39:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8863, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:33 [info] currentZPosition:0.0443
2025-04-24 14:39:35 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:35 [debug] Diagnostics for board 50:
2025-04-24 14:39:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:40 ago, cause: software
2025-04-24 14:39:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:35 [debug] Moves scheduled 31572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2805885692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:35 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17620, writes 0 timeouts 0
2025-04-24 14:39:35 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36363/37152
2025-04-24 14:39:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:35 [info] currentZPosition:0.0428
2025-04-24 14:39:35 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:36 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:36 [debug] Diagnostics for board 50:
2025-04-24 14:39:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:41 ago, cause: software
2025-04-24 14:39:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:36 [debug] Moves scheduled 31578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2804600744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:39:36 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21555, writes 0 timeouts 0
2025-04-24 14:39:36 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36002/37163
2025-04-24 14:39:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:37 [info] currentZPosition:0.0437
2025-04-24 14:39:37 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:38 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:38 [debug] Diagnostics for board 50:
2025-04-24 14:39:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:43 ago, cause: software
2025-04-24 14:39:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:38 [debug] Moves scheduled 31584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2803320080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:39:38 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21517, writes 0 timeouts 0
2025-04-24 14:39:38 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36395/37113
2025-04-24 14:39:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:38 [info] currentZPosition:0.0424
2025-04-24 14:39:40 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:40 [debug] Diagnostics for board 50:
2025-04-24 14:39:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:44 ago, cause: software
2025-04-24 14:39:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:40 [debug] Moves scheduled 31588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2802284107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:40 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17371, writes 0 timeouts 0
2025-04-24 14:39:40 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36018/37110
2025-04-24 14:39:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:40 [info] currentZPosition:0.0435
2025-04-24 14:39:41 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:41 [debug] Diagnostics for board 50:
2025-04-24 14:39:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:46 ago, cause: software
2025-04-24 14:39:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:41 [debug] Moves scheduled 31592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 110, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2801261058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:41 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17149, writes 0 timeouts 0
2025-04-24 14:39:41 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36385/37172
2025-04-24 14:39:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:41 [info] currentZPosition:0.0435
2025-04-24 14:39:42 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:42 [debug] Diagnostics for board 50:
2025-04-24 14:39:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:41:47 ago, cause: software
2025-04-24 14:39:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:42 [debug] Moves scheduled 31596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 115, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2800221351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:39:42 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17458, writes 0 timeouts 0
2025-04-24 14:39:42 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36041/37153
2025-04-24 14:39:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8857, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:42 [info] currentZPosition:0.0443
2025-04-24 14:39:44 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:44 [debug] Diagnostics for board 50:
2025-04-24 14:39:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:49 ago, cause: software
2025-04-24 14:39:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:44 [debug] Moves scheduled 31600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 115, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2799179252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:39:44 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17463, writes 0 timeouts 0
2025-04-24 14:39:44 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36366/37112
2025-04-24 14:39:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:44 [info] currentZPosition:0.0433
2025-04-24 14:39:45 [debug] Stopped at height 0.045 mm
2025-04-24 14:39:45 [debug] Diagnostics for board 50:
2025-04-24 14:39:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:50 ago, cause: software
2025-04-24 14:39:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:45 [debug] Moves scheduled 31604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2798150137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:39:45 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17262, writes 0 timeouts 0
2025-04-24 14:39:45 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 438, adv 35953/37095
2025-04-24 14:39:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8788, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:45 [info] currentZPosition:0.0451
2025-04-24 14:39:45 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:47 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:47 [debug] Diagnostics for board 50:
2025-04-24 14:39:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:52 ago, cause: software
2025-04-24 14:39:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:47 [debug] Moves scheduled 31610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 107, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2796842411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:47 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22030, writes 0 timeouts 0
2025-04-24 14:39:47 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36308/37145
2025-04-24 14:39:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:47 [info] currentZPosition:0.0422
2025-04-24 14:39:48 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:48 [debug] Diagnostics for board 50:
2025-04-24 14:39:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:53 ago, cause: software
2025-04-24 14:39:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:48 [debug] Moves scheduled 31614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 100, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2795796614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:48 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17467, writes 0 timeouts 0
2025-04-24 14:39:48 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35983/37159
2025-04-24 14:39:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:48 [info] currentZPosition:0.0431
2025-04-24 14:39:50 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:50 [debug] Diagnostics for board 50:
2025-04-24 14:39:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:54 ago, cause: software
2025-04-24 14:39:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:50 [debug] Moves scheduled 31618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2794772042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:39:50 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17184, writes 0 timeouts 0
2025-04-24 14:39:50 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36328/37109
2025-04-24 14:39:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:50 [info] currentZPosition:0.0430
2025-04-24 14:39:51 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:51 [debug] Diagnostics for board 50:
2025-04-24 14:39:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:56 ago, cause: software
2025-04-24 14:39:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:51 [debug] Moves scheduled 31622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -2/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2793718595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:51 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17683, writes 0 timeouts 0
2025-04-24 14:39:51 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36059/37108
2025-04-24 14:39:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:51 [info] currentZPosition:0.0433
2025-04-24 14:39:52 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:52 [debug] Diagnostics for board 50:
2025-04-24 14:39:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:41:57 ago, cause: software
2025-04-24 14:39:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:52 [debug] Moves scheduled 31626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2792692603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:39:52 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17202, writes 0 timeouts 0
2025-04-24 14:39:52 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 338, adv 36354/37125
2025-04-24 14:39:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:52 [info] currentZPosition:0.0434
2025-04-24 14:39:54 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:54 [debug] Diagnostics for board 50:
2025-04-24 14:39:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:41:59 ago, cause: software
2025-04-24 14:39:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:54 [debug] Moves scheduled 31630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2791646158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:39:54 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17562, writes 0 timeouts 0
2025-04-24 14:39:54 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36004/37109
2025-04-24 14:39:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8900, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:54 [info] currentZPosition:0.0442
2025-04-24 14:39:55 [debug] Stopped at height 0.043 mm
2025-04-24 14:39:55 [debug] Diagnostics for board 50:
2025-04-24 14:39:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:00 ago, cause: software
2025-04-24 14:39:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:55 [debug] Moves scheduled 31634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 2/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2790597370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:39:55 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17585, writes 0 timeouts 0
2025-04-24 14:39:55 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36319/37115
2025-04-24 14:39:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:55 [info] currentZPosition:0.0429
2025-04-24 14:39:56 [debug] Stopped at height 0.042 mm
2025-04-24 14:39:57 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:57 [debug] Diagnostics for board 50:
2025-04-24 14:39:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:02 ago, cause: software
2025-04-24 14:39:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:57 [debug] Moves scheduled 31640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2789321966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:39:57 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21412, writes 0 timeouts 0
2025-04-24 14:39:57 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36044/37145
2025-04-24 14:39:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:57 [info] currentZPosition:0.0439
2025-04-24 14:39:58 [debug] Stopped at height 0.044 mm
2025-04-24 14:39:58 [debug] Diagnostics for board 50:
2025-04-24 14:39:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:39:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:03 ago, cause: software
2025-04-24 14:39:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:39:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:39:58 [debug] Moves scheduled 31644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2788299416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:39:58 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17160, writes 0 timeouts 0
2025-04-24 14:39:58 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36273/37143
2025-04-24 14:39:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:39:58 [info] currentZPosition:0.0439
2025-04-24 14:40:00 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:00 [debug] Diagnostics for board 50:
2025-04-24 14:40:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:04 ago, cause: software
2025-04-24 14:40:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:00 [debug] Moves scheduled 31648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2787236116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:00 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17840, writes 0 timeouts 0
2025-04-24 14:40:00 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36020/37100
2025-04-24 14:40:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:00 [info] currentZPosition:0.0436
2025-04-24 14:40:01 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:01 [debug] Diagnostics for board 50:
2025-04-24 14:40:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:06 ago, cause: software
2025-04-24 14:40:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:01 [debug] Moves scheduled 31652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 108, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2786239216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:01 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16716, writes 0 timeouts 0
2025-04-24 14:40:01 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36146/37122
2025-04-24 14:40:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8890, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:01 [info] currentZPosition:0.0450
2025-04-24 14:40:01 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:03 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:03 [debug] Diagnostics for board 50:
2025-04-24 14:40:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:08 ago, cause: software
2025-04-24 14:40:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:03 [debug] Moves scheduled 31658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 107, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2784929970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:40:03 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21964, writes 0 timeouts 0
2025-04-24 14:40:03 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36083/37139
2025-04-24 14:40:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:03 [info] currentZPosition:0.0440
2025-04-24 14:40:04 [debug] Stopped at height 0.046 mm
2025-04-24 14:40:04 [debug] Diagnostics for board 50:
2025-04-24 14:40:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:09 ago, cause: software
2025-04-24 14:40:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:04 [debug] Moves scheduled 31662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 101, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2783949641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:04 [debug] Driver 0: pos -3464, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16475, writes 0 timeouts 0
2025-04-24 14:40:04 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36074/37154
2025-04-24 14:40:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8784, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 818
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:04 [info] currentZPosition:0.0462
2025-04-24 14:40:04 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:06 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:06 [debug] Diagnostics for board 50:
2025-04-24 14:40:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:11 ago, cause: software
2025-04-24 14:40:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:06 [debug] Moves scheduled 31668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2782627477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:06 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22174, writes 0 timeouts 0
2025-04-24 14:40:06 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36032/37123
2025-04-24 14:40:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8904, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:06 [info] currentZPosition:0.0446
2025-04-24 14:40:07 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:07 [debug] Diagnostics for board 50:
2025-04-24 14:40:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:12 ago, cause: software
2025-04-24 14:40:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:07 [debug] Moves scheduled 31672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2781598881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:07 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17257, writes 0 timeouts 0
2025-04-24 14:40:07 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36111/37122
2025-04-24 14:40:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:07 [info] currentZPosition:0.0443
2025-04-24 14:40:09 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:09 [debug] Diagnostics for board 50:
2025-04-24 14:40:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:13 ago, cause: software
2025-04-24 14:40:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:09 [debug] Moves scheduled 31676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -4/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2780519795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:09 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18111, writes 0 timeouts 0
2025-04-24 14:40:09 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36008/37101
2025-04-24 14:40:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:09 [info] currentZPosition:0.0431
2025-04-24 14:40:10 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:10 [debug] Diagnostics for board 50:
2025-04-24 14:40:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:15 ago, cause: software
2025-04-24 14:40:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:10 [debug] Moves scheduled 31680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2779504395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:40:10 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17042, writes 0 timeouts 0
2025-04-24 14:40:10 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36099/37148
2025-04-24 14:40:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:10 [info] currentZPosition:0.0436
2025-04-24 14:40:11 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:11 [debug] Diagnostics for board 50:
2025-04-24 14:40:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:42:16 ago, cause: software
2025-04-24 14:40:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:11 [debug] Moves scheduled 31684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2778453590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:40:11 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17628, writes 0 timeouts 0
2025-04-24 14:40:11 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36054/37153
2025-04-24 14:40:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:11 [info] currentZPosition:0.0441
2025-04-24 14:40:13 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:13 [debug] Diagnostics for board 50:
2025-04-24 14:40:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:18 ago, cause: software
2025-04-24 14:40:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:13 [debug] Moves scheduled 31688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2777414248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:40:13 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17440, writes 0 timeouts 0
2025-04-24 14:40:13 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36060/37154
2025-04-24 14:40:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:13 [info] currentZPosition:0.0431
2025-04-24 14:40:14 [debug] Stopped at height 0.046 mm
2025-04-24 14:40:14 [debug] Diagnostics for board 50:
2025-04-24 14:40:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:19 ago, cause: software
2025-04-24 14:40:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:14 [debug] Moves scheduled 31692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2776402360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:40:14 [debug] Driver 0: pos -3471, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16985, writes 0 timeouts 0
2025-04-24 14:40:14 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36008/37125
2025-04-24 14:40:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8817, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:14 [info] currentZPosition:0.0455
2025-04-24 14:40:14 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:16 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:16 [debug] Diagnostics for board 50:
2025-04-24 14:40:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:21 ago, cause: software
2025-04-24 14:40:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:16 [debug] Moves scheduled 31698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 79, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2775119971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:16 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21519, writes 0 timeouts 0
2025-04-24 14:40:16 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36118/37172
2025-04-24 14:40:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:16 [info] currentZPosition:0.0441
2025-04-24 14:40:17 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:17 [debug] Diagnostics for board 50:
2025-04-24 14:40:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:22 ago, cause: software
2025-04-24 14:40:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:17 [debug] Moves scheduled 31702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2774055058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:17 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17877, writes 0 timeouts 0
2025-04-24 14:40:17 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36021/37113
2025-04-24 14:40:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:17 [info] currentZPosition:0.0437
2025-04-24 14:40:18 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:18 [debug] Diagnostics for board 50:
2025-04-24 14:40:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:42:23 ago, cause: software
2025-04-24 14:40:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:18 [debug] Moves scheduled 31706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2773032728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:18 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17142, writes 0 timeouts 0
2025-04-24 14:40:18 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36091/37169
2025-04-24 14:40:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:19 [info] currentZPosition:0.0437
2025-04-24 14:40:20 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:20 [debug] Diagnostics for board 50:
2025-04-24 14:40:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:42:25 ago, cause: software
2025-04-24 14:40:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:20 [debug] Moves scheduled 31710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2771977748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:20 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17708, writes 0 timeouts 0
2025-04-24 14:40:20 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36058/37122
2025-04-24 14:40:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:20 [info] currentZPosition:0.0438
2025-04-24 14:40:21 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:21 [debug] Diagnostics for board 50:
2025-04-24 14:40:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:26 ago, cause: software
2025-04-24 14:40:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:21 [debug] Moves scheduled 31714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2770944809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:40:21 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17332, writes 0 timeouts 0
2025-04-24 14:40:21 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36119/37121
2025-04-24 14:40:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:21 [info] currentZPosition:0.0434
2025-04-24 14:40:23 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:23 [debug] Diagnostics for board 50:
2025-04-24 14:40:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:28 ago, cause: software
2025-04-24 14:40:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:23 [debug] Moves scheduled 31718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2769913037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:40:23 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17314, writes 0 timeouts 0
2025-04-24 14:40:23 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36068/37089
2025-04-24 14:40:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:23 [info] currentZPosition:0.0448
2025-04-24 14:40:23 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:24 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:24 [debug] Diagnostics for board 50:
2025-04-24 14:40:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:29 ago, cause: software
2025-04-24 14:40:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:24 [debug] Moves scheduled 31724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2768651070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:40:24 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21190, writes 0 timeouts 0
2025-04-24 14:40:24 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36111/37133
2025-04-24 14:40:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:24 [info] currentZPosition:0.0446
2025-04-24 14:40:26 [debug] Stopped at height 0.046 mm
2025-04-24 14:40:26 [debug] Diagnostics for board 50:
2025-04-24 14:40:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:31 ago, cause: software
2025-04-24 14:40:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:26 [debug] Moves scheduled 31728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2767611089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:40:26 [debug] Driver 0: pos -3473, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17437, writes 0 timeouts 0
2025-04-24 14:40:26 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36008/37120
2025-04-24 14:40:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8808, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:26 [info] currentZPosition:0.0458
2025-04-24 14:40:27 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:27 [debug] Diagnostics for board 50:
2025-04-24 14:40:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:32 ago, cause: software
2025-04-24 14:40:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:27 [debug] Moves scheduled 31732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2766566393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:27 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17529, writes 0 timeouts 0
2025-04-24 14:40:27 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36087/37101
2025-04-24 14:40:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8919, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:27 [info] currentZPosition:0.0445
2025-04-24 14:40:28 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:29 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:29 [debug] Diagnostics for board 50:
2025-04-24 14:40:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:34 ago, cause: software
2025-04-24 14:40:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:29 [debug] Moves scheduled 31738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2765256529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:29 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21989, writes 0 timeouts 0
2025-04-24 14:40:29 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 36035/37123
2025-04-24 14:40:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:29 [info] currentZPosition:0.0439
2025-04-24 14:40:30 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:30 [debug] Diagnostics for board 50:
2025-04-24 14:40:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:35 ago, cause: software
2025-04-24 14:40:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:30 [debug] Moves scheduled 31742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15306
Sync err accum 102, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2764251058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:30 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16860, writes 0 timeouts 0
2025-04-24 14:40:30 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36120/37150
2025-04-24 14:40:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:30 [info] currentZPosition:0.0448
2025-04-24 14:40:32 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:32 [debug] Diagnostics for board 50:
2025-04-24 14:40:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:37 ago, cause: software
2025-04-24 14:40:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:32 [debug] Moves scheduled 31746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2763199713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:40:32 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17680, writes 0 timeouts 0
2025-04-24 14:40:32 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36025/37156
2025-04-24 14:40:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8883, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:32 [info] currentZPosition:0.0450
2025-04-24 14:40:33 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:33 [debug] Diagnostics for board 50:
2025-04-24 14:40:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:38 ago, cause: software
2025-04-24 14:40:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:33 [debug] Moves scheduled 31750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2762151174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:33 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17558, writes 0 timeouts 0
2025-04-24 14:40:33 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36114/37112
2025-04-24 14:40:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:33 [info] currentZPosition:0.0436
2025-04-24 14:40:33 [debug] Stopped at height 0.042 mm
2025-04-24 14:40:35 [debug] Stopped at height 0.047 mm
2025-04-24 14:40:35 [debug] Diagnostics for board 50:
2025-04-24 14:40:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:40 ago, cause: software
2025-04-24 14:40:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:35 [debug] Moves scheduled 31756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2760899264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:35 [debug] Driver 0: pos -3467, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21012, writes 0 timeouts 0
2025-04-24 14:40:35 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36049/37086
2025-04-24 14:40:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8828, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:35 [info] currentZPosition:0.0465
2025-04-24 14:40:35 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:36 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:37 [debug] Stopped at height 0.046 mm
2025-04-24 14:40:37 [debug] Diagnostics for board 50:
2025-04-24 14:40:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:42 ago, cause: software
2025-04-24 14:40:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:37 [debug] Moves scheduled 31764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 59, peak jitter -3/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2759375528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:40:37 [debug] Driver 0: pos -3477, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25599, writes 0 timeouts 0
2025-04-24 14:40:37 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36084/37131
2025-04-24 14:40:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8886, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:37 [info] currentZPosition:0.0455
2025-04-24 14:40:37 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:38 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:38 [debug] Diagnostics for board 50:
2025-04-24 14:40:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:43 ago, cause: software
2025-04-24 14:40:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:38 [debug] Moves scheduled 31770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2758058068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:40:38 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22075, writes 0 timeouts 0
2025-04-24 14:40:38 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36041/37113
2025-04-24 14:40:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:39 [info] currentZPosition:0.0440
2025-04-24 14:40:40 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:40 [debug] Diagnostics for board 50:
2025-04-24 14:40:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:45 ago, cause: software
2025-04-24 14:40:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:40 [debug] Moves scheduled 31774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=46, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2757056687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:40:40 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16808, writes 0 timeouts 0
2025-04-24 14:40:40 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36109/37099
2025-04-24 14:40:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8911, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:40 [info] currentZPosition:0.0451
2025-04-24 14:40:41 [debug] Stopped at height 0.046 mm
2025-04-24 14:40:41 [debug] Diagnostics for board 50:
2025-04-24 14:40:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:46 ago, cause: software
2025-04-24 14:40:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:41 [debug] Moves scheduled 31778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2756023207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:40:41 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17370, writes 0 timeouts 0
2025-04-24 14:40:41 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36074/37066
2025-04-24 14:40:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8824, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 817
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:41 [info] currentZPosition:0.0464
2025-04-24 14:40:42 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:42 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:43 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:43 [debug] Diagnostics for board 50:
2025-04-24 14:40:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:48 ago, cause: software
2025-04-24 14:40:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:43 [debug] Moves scheduled 31786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2754485278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:43 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25779, writes 0 timeouts 0
2025-04-24 14:40:43 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36084/37103
2025-04-24 14:40:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:43 [info] currentZPosition:0.0447
2025-04-24 14:40:44 [debug] Stopped at height 0.042 mm
2025-04-24 14:40:45 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:45 [debug] Diagnostics for board 50:
2025-04-24 14:40:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:50 ago, cause: software
2025-04-24 14:40:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:45 [debug] Moves scheduled 31792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2753198072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:40:45 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21620, writes 0 timeouts 0
2025-04-24 14:40:45 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36043/37113
2025-04-24 14:40:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:45 [info] currentZPosition:0.0447
2025-04-24 14:40:45 [debug] Stopped at height 0.043 mm
2025-04-24 14:40:47 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:47 [debug] Diagnostics for board 50:
2025-04-24 14:40:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:42:51 ago, cause: software
2025-04-24 14:40:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:47 [debug] Moves scheduled 31798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2751948961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:40:47 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20939, writes 0 timeouts 0
2025-04-24 14:40:47 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36105/37096
2025-04-24 14:40:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8882, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:47 [info] currentZPosition:0.0453
2025-04-24 14:40:47 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:48 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:48 [debug] Diagnostics for board 50:
2025-04-24 14:40:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:42:53 ago, cause: software
2025-04-24 14:40:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:48 [debug] Moves scheduled 31804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2750638040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:48 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22004, writes 0 timeouts 0
2025-04-24 14:40:48 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36029/37114
2025-04-24 14:40:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:48 [info] currentZPosition:0.0442
2025-04-24 14:40:50 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:50 [debug] Diagnostics for board 50:
2025-04-24 14:40:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:55 ago, cause: software
2025-04-24 14:40:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:50 [debug] Moves scheduled 31808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2749628352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:50 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16946, writes 0 timeouts 0
2025-04-24 14:40:50 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36061/37118
2025-04-24 14:40:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:50 [info] currentZPosition:0.0450
2025-04-24 14:40:51 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:51 [debug] Diagnostics for board 50:
2025-04-24 14:40:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:42:56 ago, cause: software
2025-04-24 14:40:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:51 [debug] Moves scheduled 31812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2748567217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:40:51 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17798, writes 0 timeouts 0
2025-04-24 14:40:51 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36016/37118
2025-04-24 14:40:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:51 [info] currentZPosition:0.0451
2025-04-24 14:40:52 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:52 [debug] Diagnostics for board 50:
2025-04-24 14:40:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:42:57 ago, cause: software
2025-04-24 14:40:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:52 [debug] Moves scheduled 31816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2747542678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:40:52 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17186, writes 0 timeouts 0
2025-04-24 14:40:52 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36101/37123
2025-04-24 14:40:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:53 [info] currentZPosition:0.0449
2025-04-24 14:40:54 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:54 [debug] Diagnostics for board 50:
2025-04-24 14:40:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:42:59 ago, cause: software
2025-04-24 14:40:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:54 [debug] Moves scheduled 31820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2746469998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:40:54 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18006, writes 0 timeouts 0
2025-04-24 14:40:54 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36050/37115
2025-04-24 14:40:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:54 [info] currentZPosition:0.0441
2025-04-24 14:40:55 [debug] Stopped at height 0.044 mm
2025-04-24 14:40:55 [debug] Diagnostics for board 50:
2025-04-24 14:40:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:00 ago, cause: software
2025-04-24 14:40:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:55 [debug] Moves scheduled 31824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2745441147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:40:55 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17267, writes 0 timeouts 0
2025-04-24 14:40:55 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36207/37119
2025-04-24 14:40:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:55 [info] currentZPosition:0.0440
2025-04-24 14:40:57 [debug] Stopped at height 0.046 mm
2025-04-24 14:40:57 [debug] Diagnostics for board 50:
2025-04-24 14:40:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:02 ago, cause: software
2025-04-24 14:40:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:57 [debug] Moves scheduled 31828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2744421640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:40:57 [debug] Driver 0: pos -3476, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17105, writes 0 timeouts 0
2025-04-24 14:40:57 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36040/37132
2025-04-24 14:40:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8851, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:57 [info] currentZPosition:0.0462
2025-04-24 14:40:57 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:58 [debug] Stopped at height 0.045 mm
2025-04-24 14:40:58 [debug] Diagnostics for board 50:
2025-04-24 14:40:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:40:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:03 ago, cause: software
2025-04-24 14:40:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:40:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:40:58 [debug] Moves scheduled 31834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2743134028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:40:58 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21610, writes 0 timeouts 0
2025-04-24 14:40:58 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36335/37162
2025-04-24 14:40:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:40:58 [info] currentZPosition:0.0446
2025-04-24 14:41:00 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:00 [debug] Diagnostics for board 50:
2025-04-24 14:41:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:05 ago, cause: software
2025-04-24 14:41:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:00 [debug] Moves scheduled 31838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2742087530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:41:00 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17556, writes 0 timeouts 0
2025-04-24 14:41:00 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36037/37121
2025-04-24 14:41:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:00 [info] currentZPosition:0.0452
2025-04-24 14:41:01 [debug] Stopped at height 0.047 mm
2025-04-24 14:41:01 [debug] Diagnostics for board 50:
2025-04-24 14:41:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:06 ago, cause: software
2025-04-24 14:41:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:01 [debug] Moves scheduled 31842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2741094043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:01 [debug] Driver 0: pos -3469, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16678, writes 0 timeouts 0
2025-04-24 14:41:01 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36327/37093
2025-04-24 14:41:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8844, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:01 [info] currentZPosition:0.0469
2025-04-24 14:41:02 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:03 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:03 [debug] Diagnostics for board 50:
2025-04-24 14:41:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:08 ago, cause: software
2025-04-24 14:41:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:03 [debug] Moves scheduled 31848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2739762208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:03 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22349, writes 0 timeouts 0
2025-04-24 14:41:03 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36085/37152
2025-04-24 14:41:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:03 [info] currentZPosition:0.0447
2025-04-24 14:41:04 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:04 [debug] Diagnostics for board 50:
2025-04-24 14:41:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:09 ago, cause: software
2025-04-24 14:41:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:04 [debug] Moves scheduled 31852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2738746840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:04 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17026, writes 0 timeouts 0
2025-04-24 14:41:04 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36400/37165
2025-04-24 14:41:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:04 [info] currentZPosition:0.0452
2025-04-24 14:41:06 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:06 [debug] Diagnostics for board 50:
2025-04-24 14:41:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:11 ago, cause: software
2025-04-24 14:41:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:06 [debug] Moves scheduled 31856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2737684582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:41:06 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17821, writes 0 timeouts 0
2025-04-24 14:41:06 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 426, adv 35964/37121
2025-04-24 14:41:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:06 [info] currentZPosition:0.0449
2025-04-24 14:41:07 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:07 [debug] Diagnostics for board 50:
2025-04-24 14:41:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:12 ago, cause: software
2025-04-24 14:41:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:07 [debug] Moves scheduled 31860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2736649981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:41:07 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17371, writes 0 timeouts 0
2025-04-24 14:41:07 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36338/37120
2025-04-24 14:41:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:07 [info] currentZPosition:0.0443
2025-04-24 14:41:08 [debug] Stopped at height 0.047 mm
2025-04-24 14:41:08 [debug] Diagnostics for board 50:
2025-04-24 14:41:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:43:13 ago, cause: software
2025-04-24 14:41:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:08 [debug] Moves scheduled 31864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4294967243 ticks, disabled, next step interrupt due in 2735636336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 14:41:08 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17001, writes 0 timeouts 0
2025-04-24 14:41:08 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36055/37075
2025-04-24 14:41:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 818
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8780, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:08 [info] currentZPosition:0.0470
2025-04-24 14:41:09 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:10 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:10 [debug] Diagnostics for board 50:
2025-04-24 14:41:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:15 ago, cause: software
2025-04-24 14:41:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:10 [debug] Moves scheduled 31870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2734340587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:10 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21750, writes 0 timeouts 0
2025-04-24 14:41:10 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36336/37160
2025-04-24 14:41:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:10 [info] currentZPosition:0.0448
2025-04-24 14:41:12 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:12 [debug] Diagnostics for board 50:
2025-04-24 14:41:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:16 ago, cause: software
2025-04-24 14:41:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:12 [debug] Moves scheduled 31874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2733266378 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:12 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18034, writes 0 timeouts 0
2025-04-24 14:41:12 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36003/37098
2025-04-24 14:41:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:12 [info] currentZPosition:0.0439
2025-04-24 14:41:13 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:13 [debug] Diagnostics for board 50:
2025-04-24 14:41:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:18 ago, cause: software
2025-04-24 14:41:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:13 [debug] Moves scheduled 31878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2732271656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:41:13 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16676, writes 0 timeouts 0
2025-04-24 14:41:13 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36316/37102
2025-04-24 14:41:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8918, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:13 [info] currentZPosition:0.0455
2025-04-24 14:41:13 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:15 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:15 [debug] Diagnostics for board 50:
2025-04-24 14:41:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:19 ago, cause: software
2025-04-24 14:41:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:15 [debug] Moves scheduled 31884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2730968530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:15 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21887, writes 0 timeouts 0
2025-04-24 14:41:15 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36080/37119
2025-04-24 14:41:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:15 [info] currentZPosition:0.0448
2025-04-24 14:41:15 [debug] Stopped at height 0.043 mm
2025-04-24 14:41:16 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:16 [debug] Diagnostics for board 50:
2025-04-24 14:41:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:21 ago, cause: software
2025-04-24 14:41:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:16 [debug] Moves scheduled 31890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2729692506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:41:16 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21409, writes 0 timeouts 0
2025-04-24 14:41:16 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36354/37119
2025-04-24 14:41:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:16 [info] currentZPosition:0.0442
2025-04-24 14:41:18 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:18 [debug] Diagnostics for board 50:
2025-04-24 14:41:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:23 ago, cause: software
2025-04-24 14:41:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:18 [debug] Moves scheduled 31894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2728667366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:18 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17204, writes 0 timeouts 0
2025-04-24 14:41:18 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36038/37120
2025-04-24 14:41:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:18 [info] currentZPosition:0.0459
2025-04-24 14:41:18 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:19 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:19 [debug] Diagnostics for board 50:
2025-04-24 14:41:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:24 ago, cause: software
2025-04-24 14:41:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:19 [debug] Moves scheduled 31900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2727395995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:19 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21360, writes 0 timeouts 0
2025-04-24 14:41:19 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 412, adv 36355/37145
2025-04-24 14:41:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:19 [info] currentZPosition:0.0452
2025-04-24 14:41:20 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:21 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:21 [debug] Diagnostics for board 50:
2025-04-24 14:41:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:26 ago, cause: software
2025-04-24 14:41:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:21 [debug] Moves scheduled 31906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=8720, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2726094135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:21 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21818, writes 0 timeouts 0
2025-04-24 14:41:21 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36011/37117
2025-04-24 14:41:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:21 [info] currentZPosition:0.0448
2025-04-24 14:41:22 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:22 [debug] Diagnostics for board 50:
2025-04-24 14:41:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:27 ago, cause: software
2025-04-24 14:41:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:22 [debug] Moves scheduled 31910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2725088884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:41:22 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16851, writes 0 timeouts 0
2025-04-24 14:41:22 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36331/37142
2025-04-24 14:41:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:23 [info] currentZPosition:0.0457
2025-04-24 14:41:24 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:24 [debug] Diagnostics for board 50:
2025-04-24 14:41:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:29 ago, cause: software
2025-04-24 14:41:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:24 [debug] Moves scheduled 31914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2724021987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:24 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17956, writes 0 timeouts 0
2025-04-24 14:41:24 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36004/37160
2025-04-24 14:41:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:24 [info] currentZPosition:0.0452
2025-04-24 14:41:25 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:25 [debug] Diagnostics for board 50:
2025-04-24 14:41:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:30 ago, cause: software
2025-04-24 14:41:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:25 [debug] Moves scheduled 31918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2723000271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:41:25 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17089, writes 0 timeouts 0
2025-04-24 14:41:25 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36282/37111
2025-04-24 14:41:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:25 [info] currentZPosition:0.0457
2025-04-24 14:41:27 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:27 [debug] Diagnostics for board 50:
2025-04-24 14:41:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:43:32 ago, cause: software
2025-04-24 14:41:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:27 [debug] Moves scheduled 31922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2721946490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:27 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17706, writes 0 timeouts 0
2025-04-24 14:41:27 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36064/37105
2025-04-24 14:41:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:27 [info] currentZPosition:0.0458
2025-04-24 14:41:28 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:28 [debug] Diagnostics for board 50:
2025-04-24 14:41:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:33 ago, cause: software
2025-04-24 14:41:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:28 [debug] Moves scheduled 31926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2720916520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:41:28 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17285, writes 0 timeouts 0
2025-04-24 14:41:28 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36288/37139
2025-04-24 14:41:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:28 [info] currentZPosition:0.0455
2025-04-24 14:41:29 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:29 [debug] Diagnostics for board 50:
2025-04-24 14:41:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:34 ago, cause: software
2025-04-24 14:41:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:29 [debug] Moves scheduled 31930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 2719849994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:29 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17862, writes 0 timeouts 0
2025-04-24 14:41:29 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36064/37082
2025-04-24 14:41:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:30 [info] currentZPosition:0.0450
2025-04-24 14:41:31 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:31 [debug] Diagnostics for board 50:
2025-04-24 14:41:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:36 ago, cause: software
2025-04-24 14:41:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:31 [debug] Moves scheduled 31934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2718839316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:41:31 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16967, writes 0 timeouts 0
2025-04-24 14:41:31 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36338/37104
2025-04-24 14:41:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:31 [info] currentZPosition:0.0458
2025-04-24 14:41:32 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:32 [debug] Diagnostics for board 50:
2025-04-24 14:41:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:37 ago, cause: software
2025-04-24 14:41:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:32 [debug] Moves scheduled 31938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2717785540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:32 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17714, writes 0 timeouts 0
2025-04-24 14:41:32 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36029/37097
2025-04-24 14:41:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:32 [info] currentZPosition:0.0460
2025-04-24 14:41:34 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:34 [debug] Diagnostics for board 50:
2025-04-24 14:41:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:38 ago, cause: software
2025-04-24 14:41:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:34 [debug] Moves scheduled 31942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2716745720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:34 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17411, writes 0 timeouts 0
2025-04-24 14:41:34 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36333/37146
2025-04-24 14:41:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:34 [info] currentZPosition:0.0452
2025-04-24 14:41:35 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:35 [debug] Diagnostics for board 50:
2025-04-24 14:41:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:40 ago, cause: software
2025-04-24 14:41:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:35 [debug] Moves scheduled 31946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2715682515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:35 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17841, writes 0 timeouts 0
2025-04-24 14:41:35 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36035/37102
2025-04-24 14:41:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:35 [info] currentZPosition:0.0448
2025-04-24 14:41:36 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:36 [debug] Diagnostics for board 50:
2025-04-24 14:41:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:41 ago, cause: software
2025-04-24 14:41:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:36 [debug] Moves scheduled 31950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2714643510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-24 14:41:36 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17446, writes 0 timeouts 0
2025-04-24 14:41:36 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36346/37094
2025-04-24 14:41:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:36 [info] currentZPosition:0.0439
2025-04-24 14:41:38 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:38 [debug] Diagnostics for board 50:
2025-04-24 14:41:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:43 ago, cause: software
2025-04-24 14:41:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:38 [debug] Moves scheduled 31954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 79, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2713619602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:41:38 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17163, writes 0 timeouts 0
2025-04-24 14:41:38 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36040/37159
2025-04-24 14:41:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:38 [info] currentZPosition:0.0457
2025-04-24 14:41:38 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:39 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:39 [debug] Diagnostics for board 50:
2025-04-24 14:41:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:44 ago, cause: software
2025-04-24 14:41:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:39 [debug] Moves scheduled 31960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2712358821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:39 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21162, writes 0 timeouts 0
2025-04-24 14:41:39 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36306/37142
2025-04-24 14:41:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:40 [info] currentZPosition:0.0455
2025-04-24 14:41:40 [debug] Stopped at height 0.043 mm
2025-04-24 14:41:41 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:41 [debug] Diagnostics for board 50:
2025-04-24 14:41:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:46 ago, cause: software
2025-04-24 14:41:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:41 [debug] Moves scheduled 31966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2711082376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:41:41 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21455, writes 0 timeouts 0
2025-04-24 14:41:41 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36016/37123
2025-04-24 14:41:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:41 [info] currentZPosition:0.0462
2025-04-24 14:41:42 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:43 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:43 [debug] Diagnostics for board 50:
2025-04-24 14:41:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:48 ago, cause: software
2025-04-24 14:41:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:43 [debug] Moves scheduled 31972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 79, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2709794461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:41:43 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21582, writes 0 timeouts 0
2025-04-24 14:41:43 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36354/37125
2025-04-24 14:41:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:43 [info] currentZPosition:0.0454
2025-04-24 14:41:44 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:44 [debug] Diagnostics for board 50:
2025-04-24 14:41:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:49 ago, cause: software
2025-04-24 14:41:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:44 [debug] Moves scheduled 31976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2708735644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:41:44 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17773, writes 0 timeouts 0
2025-04-24 14:41:44 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35993/37140
2025-04-24 14:41:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:44 [info] currentZPosition:0.0454
2025-04-24 14:41:46 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:46 [debug] Diagnostics for board 50:
2025-04-24 14:41:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:50 ago, cause: software
2025-04-24 14:41:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:46 [debug] Moves scheduled 31980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2707715019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:41:46 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17133, writes 0 timeouts 0
2025-04-24 14:41:46 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36329/37136
2025-04-24 14:41:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:46 [info] currentZPosition:0.0456
2025-04-24 14:41:47 [debug] Stopped at height 0.047 mm
2025-04-24 14:41:47 [debug] Diagnostics for board 50:
2025-04-24 14:41:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:43:52 ago, cause: software
2025-04-24 14:41:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:47 [debug] Moves scheduled 31984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2706676632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:41:47 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17416, writes 0 timeouts 0
2025-04-24 14:41:47 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36062/37101
2025-04-24 14:41:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8917, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:47 [info] currentZPosition:0.0467
2025-04-24 14:41:48 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:48 [debug] Diagnostics for board 50:
2025-04-24 14:41:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:53 ago, cause: software
2025-04-24 14:41:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:48 [debug] Moves scheduled 31988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2705625282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:41:48 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17635, writes 0 timeouts 0
2025-04-24 14:41:48 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36330/37118
2025-04-24 14:41:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:48 [info] currentZPosition:0.0453
2025-04-24 14:41:49 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:50 [debug] Stopped at height 0.048 mm
2025-04-24 14:41:50 [debug] Diagnostics for board 50:
2025-04-24 14:41:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:43:55 ago, cause: software
2025-04-24 14:41:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:50 [debug] Moves scheduled 31994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2704378328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:41:50 [debug] Driver 0: pos -3468, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20930, writes 0 timeouts 0
2025-04-24 14:41:50 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36063/37139
2025-04-24 14:41:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 815
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8809, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:50 [info] currentZPosition:0.0482
2025-04-24 14:41:50 [debug] Stopped at height 0.047 mm
2025-04-24 14:41:52 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:52 [debug] Diagnostics for board 50:
2025-04-24 14:41:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:57 ago, cause: software
2025-04-24 14:41:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:52 [debug] Moves scheduled 32000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2703062822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:41:52 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22074, writes 0 timeouts 0
2025-04-24 14:41:52 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36183/37137
2025-04-24 14:41:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:52 [info] currentZPosition:0.0454
2025-04-24 14:41:52 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:53 [debug] Stopped at height 0.047 mm
2025-04-24 14:41:53 [debug] Diagnostics for board 50:
2025-04-24 14:41:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:43:58 ago, cause: software
2025-04-24 14:41:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:53 [debug] Moves scheduled 32006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -3/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2701790572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:41:53 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21331, writes 0 timeouts 0
2025-04-24 14:41:53 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36055/37174
2025-04-24 14:41:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8924, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:54 [info] currentZPosition:0.0469
2025-04-24 14:41:54 [debug] Stopped at height 0.045 mm
2025-04-24 14:41:55 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:55 [debug] Diagnostics for board 50:
2025-04-24 14:41:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:00 ago, cause: software
2025-04-24 14:41:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:55 [debug] Moves scheduled 32012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2700488742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:41:55 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21869, writes 0 timeouts 0
2025-04-24 14:41:55 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36107/37146
2025-04-24 14:41:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:55 [info] currentZPosition:0.0444
2025-04-24 14:41:57 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:57 [debug] Diagnostics for board 50:
2025-04-24 14:41:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:01 ago, cause: software
2025-04-24 14:41:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:57 [debug] Moves scheduled 32016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 71, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2699462129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:41:57 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17224, writes 0 timeouts 0
2025-04-24 14:41:57 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36028/37118
2025-04-24 14:41:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:57 [info] currentZPosition:0.0460
2025-04-24 14:41:57 [debug] Stopped at height 0.044 mm
2025-04-24 14:41:58 [debug] Stopped at height 0.046 mm
2025-04-24 14:41:58 [debug] Diagnostics for board 50:
2025-04-24 14:41:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:41:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:03 ago, cause: software
2025-04-24 14:41:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:41:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:41:58 [debug] Moves scheduled 32022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2698212595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:41:58 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20966, writes 0 timeouts 0
2025-04-24 14:41:58 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36074/37148
2025-04-24 14:41:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8930, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:41:58 [info] currentZPosition:0.0463
2025-04-24 14:41:59 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:00 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:00 [debug] Diagnostics for board 50:
2025-04-24 14:42:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:05 ago, cause: software
2025-04-24 14:42:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:00 [debug] Moves scheduled 32028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2696922004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:00 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21669, writes 0 timeouts 0
2025-04-24 14:42:00 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36072/37145
2025-04-24 14:42:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:00 [info] currentZPosition:0.0464
2025-04-24 14:42:00 [debug] Stopped at height 0.044 mm
2025-04-24 14:42:02 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:02 [debug] Diagnostics for board 50:
2025-04-24 14:42:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:07 ago, cause: software
2025-04-24 14:42:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:02 [debug] Moves scheduled 32034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2695643852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:02 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21447, writes 0 timeouts 0
2025-04-24 14:42:02 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36103/37131
2025-04-24 14:42:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:02 [info] currentZPosition:0.0450
2025-04-24 14:42:03 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:03 [debug] Diagnostics for board 50:
2025-04-24 14:42:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:08 ago, cause: software
2025-04-24 14:42:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:03 [debug] Moves scheduled 32038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2694607712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:03 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17385, writes 0 timeouts 0
2025-04-24 14:42:03 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36054/37102
2025-04-24 14:42:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:03 [info] currentZPosition:0.0461
2025-04-24 14:42:04 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:04 [debug] Diagnostics for board 50:
2025-04-24 14:42:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:09 ago, cause: software
2025-04-24 14:42:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:04 [debug] Moves scheduled 32042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 90, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2693586316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:04 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17138, writes 0 timeouts 0
2025-04-24 14:42:04 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36100/37125
2025-04-24 14:42:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:05 [info] currentZPosition:0.0461
2025-04-24 14:42:06 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:06 [debug] Diagnostics for board 50:
2025-04-24 14:42:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:11 ago, cause: software
2025-04-24 14:42:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:06 [debug] Moves scheduled 32046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2692505485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:06 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18147, writes 0 timeouts 0
2025-04-24 14:42:06 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36043/37092
2025-04-24 14:42:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:06 [info] currentZPosition:0.0449
2025-04-24 14:42:07 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:07 [debug] Diagnostics for board 50:
2025-04-24 14:42:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:12 ago, cause: software
2025-04-24 14:42:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:07 [debug] Moves scheduled 32050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8720, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2691507452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:42:07 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16751, writes 0 timeouts 0
2025-04-24 14:42:07 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36078/37158
2025-04-24 14:42:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:07 [info] currentZPosition:0.0464
2025-04-24 14:42:08 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:09 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:09 [debug] Diagnostics for board 50:
2025-04-24 14:42:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:14 ago, cause: software
2025-04-24 14:42:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:09 [debug] Moves scheduled 32056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2690214294 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:42:09 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21687, writes 0 timeouts 0
2025-04-24 14:42:09 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36023/37096
2025-04-24 14:42:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:09 [info] currentZPosition:0.0464
2025-04-24 14:42:09 [debug] Stopped at height 0.044 mm
2025-04-24 14:42:11 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:11 [debug] Diagnostics for board 50:
2025-04-24 14:42:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:15 ago, cause: software
2025-04-24 14:42:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:11 [debug] Moves scheduled 32062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2688960977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:11 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21034, writes 0 timeouts 0
2025-04-24 14:42:11 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36077/37137
2025-04-24 14:42:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:11 [info] currentZPosition:0.0464
2025-04-24 14:42:11 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:12 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:12 [debug] Diagnostics for board 50:
2025-04-24 14:42:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:17 ago, cause: software
2025-04-24 14:42:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:12 [debug] Moves scheduled 32068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2687679998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:12 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21504, writes 0 timeouts 0
2025-04-24 14:42:12 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36040/37160
2025-04-24 14:42:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8934, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:12 [info] currentZPosition:0.0471
2025-04-24 14:42:13 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:14 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:14 [debug] Diagnostics for board 50:
2025-04-24 14:42:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:19 ago, cause: software
2025-04-24 14:42:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:14 [debug] Moves scheduled 32074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2686422796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:42:14 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21094, writes 0 timeouts 0
2025-04-24 14:42:14 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36064/37121
2025-04-24 14:42:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:14 [info] currentZPosition:0.0470
2025-04-24 14:42:14 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:16 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:16 [debug] Diagnostics for board 50:
2025-04-24 14:42:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:21 ago, cause: software
2025-04-24 14:42:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:16 [debug] Moves scheduled 32080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2685118579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:16 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21929, writes 0 timeouts 0
2025-04-24 14:42:16 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36008/37103
2025-04-24 14:42:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:16 [info] currentZPosition:0.0465
2025-04-24 14:42:17 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:17 [debug] Diagnostics for board 50:
2025-04-24 14:42:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:22 ago, cause: software
2025-04-24 14:42:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:17 [debug] Moves scheduled 32084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2684103569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:42:17 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16997, writes 0 timeouts 0
2025-04-24 14:42:17 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36082/37113
2025-04-24 14:42:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:17 [info] currentZPosition:0.0469
2025-04-24 14:42:18 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:18 [debug] Diagnostics for board 50:
2025-04-24 14:42:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:23 ago, cause: software
2025-04-24 14:42:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:18 [debug] Moves scheduled 32088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2683032842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:18 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17965, writes 0 timeouts 0
2025-04-24 14:42:18 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36017/37163
2025-04-24 14:42:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:19 [info] currentZPosition:0.0462
2025-04-24 14:42:20 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:20 [debug] Diagnostics for board 50:
2025-04-24 14:42:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:44:25 ago, cause: software
2025-04-24 14:42:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:20 [debug] Moves scheduled 32092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 79, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2682014417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:42:20 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17107, writes 0 timeouts 0
2025-04-24 14:42:20 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36067/37121
2025-04-24 14:42:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:20 [info] currentZPosition:0.0464
2025-04-24 14:42:21 [debug] Stopped at height 0.048 mm
2025-04-24 14:42:21 [debug] Diagnostics for board 50:
2025-04-24 14:42:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:44:26 ago, cause: software
2025-04-24 14:42:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:21 [debug] Moves scheduled 32096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2680977443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:42:21 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17375, writes 0 timeouts 0
2025-04-24 14:42:21 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36025/37111
2025-04-24 14:42:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8891, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:21 [info] currentZPosition:0.0475
2025-04-24 14:42:23 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:23 [debug] Diagnostics for board 50:
2025-04-24 14:42:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:28 ago, cause: software
2025-04-24 14:42:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:23 [debug] Moves scheduled 32100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2679943929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:42:23 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17358, writes 0 timeouts 0
2025-04-24 14:42:23 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36106/37106
2025-04-24 14:42:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:23 [info] currentZPosition:0.0469
2025-04-24 14:42:24 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:24 [debug] Diagnostics for board 50:
2025-04-24 14:42:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:44:29 ago, cause: software
2025-04-24 14:42:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:24 [debug] Moves scheduled 32104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2678885085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:24 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17774, writes 0 timeouts 0
2025-04-24 14:42:24 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36054/37094
2025-04-24 14:42:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:24 [info] currentZPosition:0.0468
2025-04-24 14:42:25 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:25 [debug] Diagnostics for board 50:
2025-04-24 14:42:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:44:30 ago, cause: software
2025-04-24 14:42:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:25 [debug] Moves scheduled 32108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2677857398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:42:25 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17210, writes 0 timeouts 0
2025-04-24 14:42:25 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36092/37142
2025-04-24 14:42:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:26 [info] currentZPosition:0.0466
2025-04-24 14:42:27 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:27 [debug] Diagnostics for board 50:
2025-04-24 14:42:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:32 ago, cause: software
2025-04-24 14:42:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:27 [debug] Moves scheduled 32112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2676803044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:27 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17694, writes 0 timeouts 0
2025-04-24 14:42:27 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36084/37121
2025-04-24 14:42:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:27 [info] currentZPosition:0.0467
2025-04-24 14:42:28 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:28 [debug] Diagnostics for board 50:
2025-04-24 14:42:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:33 ago, cause: software
2025-04-24 14:42:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:28 [debug] Moves scheduled 32116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2675783188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:28 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17140, writes 0 timeouts 0
2025-04-24 14:42:28 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36080/37121
2025-04-24 14:42:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:28 [info] currentZPosition:0.0468
2025-04-24 14:42:30 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:30 [debug] Diagnostics for board 50:
2025-04-24 14:42:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:34 ago, cause: software
2025-04-24 14:42:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:30 [debug] Moves scheduled 32120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2674728961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:42:30 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17649, writes 0 timeouts 0
2025-04-24 14:42:30 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36045/37167
2025-04-24 14:42:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:30 [info] currentZPosition:0.0471
2025-04-24 14:42:31 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:31 [debug] Diagnostics for board 50:
2025-04-24 14:42:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:36 ago, cause: software
2025-04-24 14:42:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:31 [debug] Moves scheduled 32124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2673667732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:42:31 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17802, writes 0 timeouts 0
2025-04-24 14:42:31 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36096/37106
2025-04-24 14:42:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:31 [info] currentZPosition:0.0451
2025-04-24 14:42:31 [debug] Stopped at height 0.044 mm
2025-04-24 14:42:33 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:33 [debug] Diagnostics for board 50:
2025-04-24 14:42:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:38 ago, cause: software
2025-04-24 14:42:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:33 [debug] Moves scheduled 32130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2672397638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:42:33 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21331, writes 0 timeouts 0
2025-04-24 14:42:33 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36019/37165
2025-04-24 14:42:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:33 [info] currentZPosition:0.0465
2025-04-24 14:42:33 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:34 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:34 [debug] Diagnostics for board 50:
2025-04-24 14:42:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:44:39 ago, cause: software
2025-04-24 14:42:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:34 [debug] Moves scheduled 32136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2671133310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:34 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21214, writes 0 timeouts 0
2025-04-24 14:42:34 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36111/37161
2025-04-24 14:42:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:34 [info] currentZPosition:0.0465
2025-04-24 14:42:36 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:36 [debug] Diagnostics for board 50:
2025-04-24 14:42:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:41 ago, cause: software
2025-04-24 14:42:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:36 [debug] Moves scheduled 32140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2670084628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:36 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17590, writes 0 timeouts 0
2025-04-24 14:42:36 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36027/37129
2025-04-24 14:42:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:36 [info] currentZPosition:0.0471
2025-04-24 14:42:37 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:37 [debug] Diagnostics for board 50:
2025-04-24 14:42:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:42 ago, cause: software
2025-04-24 14:42:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:37 [debug] Moves scheduled 32144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2669036761 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:42:37 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17577, writes 0 timeouts 0
2025-04-24 14:42:37 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36065/37119
2025-04-24 14:42:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:37 [info] currentZPosition:0.0457
2025-04-24 14:42:38 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:39 [debug] Stopped at height 0.048 mm
2025-04-24 14:42:39 [debug] Diagnostics for board 50:
2025-04-24 14:42:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:44 ago, cause: software
2025-04-24 14:42:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:39 [debug] Moves scheduled 32150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2667792494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:42:39 [debug] Driver 0: pos -3482, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20895, writes 0 timeouts 0
2025-04-24 14:42:39 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36034/37149
2025-04-24 14:42:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8912, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:39 [info] currentZPosition:0.0481
2025-04-24 14:42:39 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:41 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:41 [debug] Diagnostics for board 50:
2025-04-24 14:42:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:45 ago, cause: software
2025-04-24 14:42:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:41 [debug] Moves scheduled 32156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2666504393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:41 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21589, writes 0 timeouts 0
2025-04-24 14:42:41 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36060/37157
2025-04-24 14:42:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:41 [info] currentZPosition:0.0472
2025-04-24 14:42:42 [debug] Stopped at height 0.048 mm
2025-04-24 14:42:42 [debug] Diagnostics for board 50:
2025-04-24 14:42:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:47 ago, cause: software
2025-04-24 14:42:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:42 [debug] Moves scheduled 32160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2665457868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:42:42 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17563, writes 0 timeouts 0
2025-04-24 14:42:42 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36051/37142
2025-04-24 14:42:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:42 [info] currentZPosition:0.0478
2025-04-24 14:42:43 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:43 [debug] Diagnostics for board 50:
2025-04-24 14:42:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:44:48 ago, cause: software
2025-04-24 14:42:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:43 [debug] Moves scheduled 32164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2664416186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:42:43 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17469, writes 0 timeouts 0
2025-04-24 14:42:43 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36096/37160
2025-04-24 14:42:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:43 [info] currentZPosition:0.0466
2025-04-24 14:42:45 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:45 [debug] Diagnostics for board 50:
2025-04-24 14:42:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:44:50 ago, cause: software
2025-04-24 14:42:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:45 [debug] Moves scheduled 32168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2663367593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:45 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17606, writes 0 timeouts 0
2025-04-24 14:42:45 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36070/37118
2025-04-24 14:42:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:45 [info] currentZPosition:0.0471
2025-04-24 14:42:46 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:46 [debug] Diagnostics for board 50:
2025-04-24 14:42:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:51 ago, cause: software
2025-04-24 14:42:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:46 [debug] Moves scheduled 32172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2662327893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:42:46 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17435, writes 0 timeouts 0
2025-04-24 14:42:46 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36073/37102
2025-04-24 14:42:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:46 [info] currentZPosition:0.0463
2025-04-24 14:42:47 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:47 [debug] Diagnostics for board 50:
2025-04-24 14:42:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:44:52 ago, cause: software
2025-04-24 14:42:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:47 [debug] Moves scheduled 32176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2661287091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:42:47 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17469, writes 0 timeouts 0
2025-04-24 14:42:47 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36087/37128
2025-04-24 14:42:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:48 [info] currentZPosition:0.0472
2025-04-24 14:42:49 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:49 [debug] Diagnostics for board 50:
2025-04-24 14:42:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:44:54 ago, cause: software
2025-04-24 14:42:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:49 [debug] Moves scheduled 32180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2660258084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:42:49 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17278, writes 0 timeouts 0
2025-04-24 14:42:49 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36200/37116
2025-04-24 14:42:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4587, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:49 [info] currentZPosition:0.0469
2025-04-24 14:42:50 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:50 [debug] Diagnostics for board 50:
2025-04-24 14:42:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:55 ago, cause: software
2025-04-24 14:42:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:50 [debug] Moves scheduled 32184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2659206159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:42:50 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17645, writes 0 timeouts 0
2025-04-24 14:42:50 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36030/37150
2025-04-24 14:42:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:50 [info] currentZPosition:0.0471
2025-04-24 14:42:52 [debug] Stopped at height 0.048 mm
2025-04-24 14:42:52 [debug] Diagnostics for board 50:
2025-04-24 14:42:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:44:57 ago, cause: software
2025-04-24 14:42:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:52 [debug] Moves scheduled 32188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2658190981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:42:52 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17030, writes 0 timeouts 0
2025-04-24 14:42:52 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 333, adv 36394/37124
2025-04-24 14:42:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:52 [info] currentZPosition:0.0476
2025-04-24 14:42:53 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:53 [debug] Diagnostics for board 50:
2025-04-24 14:42:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:44:58 ago, cause: software
2025-04-24 14:42:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:53 [debug] Moves scheduled 32192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2657092376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:42:53 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18430, writes 0 timeouts 0
2025-04-24 14:42:53 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36041/37083
2025-04-24 14:42:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:53 [info] currentZPosition:0.0455
2025-04-24 14:42:54 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:55 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:55 [debug] Diagnostics for board 50:
2025-04-24 14:42:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:00 ago, cause: software
2025-04-24 14:42:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:55 [debug] Moves scheduled 32198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2655854375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:55 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20776, writes 0 timeouts 0
2025-04-24 14:42:55 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36347/37124
2025-04-24 14:42:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:55 [info] currentZPosition:0.0468
2025-04-24 14:42:55 [debug] Stopped at height 0.045 mm
2025-04-24 14:42:56 [debug] Stopped at height 0.048 mm
2025-04-24 14:42:56 [debug] Diagnostics for board 50:
2025-04-24 14:42:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:01 ago, cause: software
2025-04-24 14:42:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:56 [debug] Moves scheduled 32204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2654582640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:56 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21338, writes 0 timeouts 0
2025-04-24 14:42:56 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36028/37114
2025-04-24 14:42:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8932, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:57 [info] currentZPosition:0.0477
2025-04-24 14:42:57 [debug] Stopped at height 0.046 mm
2025-04-24 14:42:58 [debug] Stopped at height 0.047 mm
2025-04-24 14:42:58 [debug] Diagnostics for board 50:
2025-04-24 14:42:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:42:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:45:03 ago, cause: software
2025-04-24 14:42:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:42:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:42:58 [debug] Moves scheduled 32210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2653307540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:42:58 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21393, writes 0 timeouts 0
2025-04-24 14:42:58 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36280/37127
2025-04-24 14:42:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:42:58 [info] currentZPosition:0.0468
2025-04-24 14:43:00 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:00 [debug] Diagnostics for board 50:
2025-04-24 14:43:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:04 ago, cause: software
2025-04-24 14:43:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:00 [debug] Moves scheduled 32214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2652278649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:00 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17274, writes 0 timeouts 0
2025-04-24 14:43:00 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36039/37140
2025-04-24 14:43:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8901, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:00 [info] currentZPosition:0.0483
2025-04-24 14:43:00 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:01 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:01 [debug] Diagnostics for board 50:
2025-04-24 14:43:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:45:06 ago, cause: software
2025-04-24 14:43:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:01 [debug] Moves scheduled 32220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2651015377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:01 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21188, writes 0 timeouts 0
2025-04-24 14:43:01 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36297/37144
2025-04-24 14:43:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:01 [info] currentZPosition:0.0480
2025-04-24 14:43:03 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:03 [debug] Diagnostics for board 50:
2025-04-24 14:43:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:45:08 ago, cause: software
2025-04-24 14:43:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:03 [debug] Moves scheduled 32224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2649941020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:03 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18031, writes 0 timeouts 0
2025-04-24 14:43:03 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36084/37174
2025-04-24 14:43:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:03 [info] currentZPosition:0.0473
2025-04-24 14:43:04 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:04 [debug] Diagnostics for board 50:
2025-04-24 14:43:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:09 ago, cause: software
2025-04-24 14:43:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:04 [debug] Moves scheduled 32228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -1/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2648928524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:43:04 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16989, writes 0 timeouts 0
2025-04-24 14:43:04 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36347/37103
2025-04-24 14:43:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:04 [info] currentZPosition:0.0482
2025-04-24 14:43:05 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:05 [debug] Diagnostics for board 50:
2025-04-24 14:43:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:45:10 ago, cause: software
2025-04-24 14:43:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:05 [debug] Moves scheduled 32232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2647852591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:43:05 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18035, writes 0 timeouts 0
2025-04-24 14:43:05 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36036/37121
2025-04-24 14:43:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:06 [info] currentZPosition:0.0473
2025-04-24 14:43:07 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:07 [debug] Diagnostics for board 50:
2025-04-24 14:43:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:12 ago, cause: software
2025-04-24 14:43:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:07 [debug] Moves scheduled 32236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2646826101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:43:07 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17229, writes 0 timeouts 0
2025-04-24 14:43:07 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36301/37100
2025-04-24 14:43:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:07 [info] currentZPosition:0.0472
2025-04-24 14:43:08 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:08 [debug] Diagnostics for board 50:
2025-04-24 14:43:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:13 ago, cause: software
2025-04-24 14:43:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:08 [debug] Moves scheduled 32240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2645787728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:08 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17427, writes 0 timeouts 0
2025-04-24 14:43:08 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36007/37096
2025-04-24 14:43:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:08 [info] currentZPosition:0.0483
2025-04-24 14:43:10 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:10 [debug] Diagnostics for board 50:
2025-04-24 14:43:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:14 ago, cause: software
2025-04-24 14:43:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:10 [debug] Moves scheduled 32244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2644741620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:10 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17551, writes 0 timeouts 0
2025-04-24 14:43:10 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36318/37099
2025-04-24 14:43:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:10 [info] currentZPosition:0.0470
2025-04-24 14:43:10 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:11 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:11 [debug] Diagnostics for board 50:
2025-04-24 14:43:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:16 ago, cause: software
2025-04-24 14:43:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:11 [debug] Moves scheduled 32250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2643485207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:43:11 [debug] Driver 0: pos -3478, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21072, writes 0 timeouts 0
2025-04-24 14:43:11 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36076/37121
2025-04-24 14:43:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8864, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:11 [info] currentZPosition:0.0491
2025-04-24 14:43:12 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:13 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:13 [debug] Diagnostics for board 50:
2025-04-24 14:43:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:18 ago, cause: software
2025-04-24 14:43:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:13 [debug] Moves scheduled 32256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2642211204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:13 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21384, writes 0 timeouts 0
2025-04-24 14:43:13 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36373/37104
2025-04-24 14:43:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:13 [info] currentZPosition:0.0482
2025-04-24 14:43:14 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:14 [debug] Diagnostics for board 50:
2025-04-24 14:43:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:45:19 ago, cause: software
2025-04-24 14:43:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:14 [debug] Moves scheduled 32260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15306
Sync err accum 90, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2641131292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:43:14 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18130, writes 0 timeouts 0
2025-04-24 14:43:14 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 415, adv 36054/37119
2025-04-24 14:43:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:14 [info] currentZPosition:0.0471
2025-04-24 14:43:16 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:16 [debug] Diagnostics for board 50:
2025-04-24 14:43:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:45:21 ago, cause: software
2025-04-24 14:43:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:16 [debug] Moves scheduled 32264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2640123990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:43:16 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16892, writes 0 timeouts 0
2025-04-24 14:43:16 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36313/37120
2025-04-24 14:43:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:16 [info] currentZPosition:0.0481
2025-04-24 14:43:17 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:17 [debug] Diagnostics for board 50:
2025-04-24 14:43:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:22 ago, cause: software
2025-04-24 14:43:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:17 [debug] Moves scheduled 32268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2639053105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:17 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17962, writes 0 timeouts 0
2025-04-24 14:43:17 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36030/37122
2025-04-24 14:43:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:17 [info] currentZPosition:0.0474
2025-04-24 14:43:18 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:18 [debug] Diagnostics for board 50:
2025-04-24 14:43:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:23 ago, cause: software
2025-04-24 14:43:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:18 [debug] Moves scheduled 32272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2638039812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:43:18 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17040, writes 0 timeouts 0
2025-04-24 14:43:18 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36324/37146
2025-04-24 14:43:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:19 [info] currentZPosition:0.0480
2025-04-24 14:43:20 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:20 [debug] Diagnostics for board 50:
2025-04-24 14:43:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:25 ago, cause: software
2025-04-24 14:43:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:20 [debug] Moves scheduled 32276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2636979129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:20 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17761, writes 0 timeouts 0
2025-04-24 14:43:20 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36026/37172
2025-04-24 14:43:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:20 [info] currentZPosition:0.0478
2025-04-24 14:43:21 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:21 [debug] Diagnostics for board 50:
2025-04-24 14:43:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:26 ago, cause: software
2025-04-24 14:43:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:21 [debug] Moves scheduled 32280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2635938128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:43:21 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17458, writes 0 timeouts 0
2025-04-24 14:43:21 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36344/37118
2025-04-24 14:43:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:21 [info] currentZPosition:0.0469
2025-04-24 14:43:23 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:23 [debug] Diagnostics for board 50:
2025-04-24 14:43:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:28 ago, cause: software
2025-04-24 14:43:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:23 [debug] Moves scheduled 32284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2634904281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:23 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17386, writes 0 timeouts 0
2025-04-24 14:43:23 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36040/37120
2025-04-24 14:43:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:23 [info] currentZPosition:0.0481
2025-04-24 14:43:24 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:24 [debug] Diagnostics for board 50:
2025-04-24 14:43:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:29 ago, cause: software
2025-04-24 14:43:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:24 [debug] Moves scheduled 32288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2633890977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:24 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16965, writes 0 timeouts 0
2025-04-24 14:43:24 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36338/37115
2025-04-24 14:43:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 819
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:24 [info] currentZPosition:0.0486
2025-04-24 14:43:25 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:25 [debug] Diagnostics for board 50:
2025-04-24 14:43:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:30 ago, cause: software
2025-04-24 14:43:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:25 [debug] Moves scheduled 32292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2632826767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:43:25 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17862, writes 0 timeouts 0
2025-04-24 14:43:25 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36031/37108
2025-04-24 14:43:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:26 [info] currentZPosition:0.0483
2025-04-24 14:43:27 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:27 [debug] Diagnostics for board 50:
2025-04-24 14:43:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:32 ago, cause: software
2025-04-24 14:43:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:27 [debug] Moves scheduled 32296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2631784660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:27 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17505, writes 0 timeouts 0
2025-04-24 14:43:27 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36338/37104
2025-04-24 14:43:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:27 [info] currentZPosition:0.0472
2025-04-24 14:43:28 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:28 [debug] Diagnostics for board 50:
2025-04-24 14:43:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:33 ago, cause: software
2025-04-24 14:43:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:28 [debug] Moves scheduled 32300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2630748622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:43:28 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17376, writes 0 timeouts 0
2025-04-24 14:43:28 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36029/37105
2025-04-24 14:43:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:28 [info] currentZPosition:0.0483
2025-04-24 14:43:30 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:30 [debug] Diagnostics for board 50:
2025-04-24 14:43:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:34 ago, cause: software
2025-04-24 14:43:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:30 [debug] Moves scheduled 32304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 93, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2629706969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:43:30 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17454, writes 0 timeouts 0
2025-04-24 14:43:30 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36311/37121
2025-04-24 14:43:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:30 [info] currentZPosition:0.0473
2025-04-24 14:43:31 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:31 [debug] Diagnostics for board 50:
2025-04-24 14:43:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:36 ago, cause: software
2025-04-24 14:43:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:31 [debug] Moves scheduled 32308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2628673900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 14:43:31 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17361, writes 0 timeouts 0
2025-04-24 14:43:31 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35992/37112
2025-04-24 14:43:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:31 [info] currentZPosition:0.0484
2025-04-24 14:43:32 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:32 [debug] Diagnostics for board 50:
2025-04-24 14:43:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:37 ago, cause: software
2025-04-24 14:43:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:32 [debug] Moves scheduled 32312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 78, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2627633790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:43:32 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17430, writes 0 timeouts 0
2025-04-24 14:43:32 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36303/37122
2025-04-24 14:43:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:32 [info] currentZPosition:0.0475
2025-04-24 14:43:34 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:34 [debug] Diagnostics for board 50:
2025-04-24 14:43:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:45:39 ago, cause: software
2025-04-24 14:43:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:34 [debug] Moves scheduled 32316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 69, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2626584452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:43:34 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17599, writes 0 timeouts 0
2025-04-24 14:43:34 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36060/37082
2025-04-24 14:43:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:34 [info] currentZPosition:0.0481
2025-04-24 14:43:35 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:35 [debug] Diagnostics for board 50:
2025-04-24 14:43:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:45:40 ago, cause: software
2025-04-24 14:43:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:35 [debug] Moves scheduled 32320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -3/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2625584276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:43:35 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16821, writes 0 timeouts 0
2025-04-24 14:43:35 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36328/37103
2025-04-24 14:43:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:35 [info] currentZPosition:0.0493
2025-04-24 14:43:37 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:37 [debug] Diagnostics for board 50:
2025-04-24 14:43:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:41 ago, cause: software
2025-04-24 14:43:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:37 [debug] Moves scheduled 32324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2624496063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:43:37 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18227, writes 0 timeouts 0
2025-04-24 14:43:37 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35991/37115
2025-04-24 14:43:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8954, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:37 [info] currentZPosition:0.0480
2025-04-24 14:43:37 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:38 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:38 [debug] Diagnostics for board 50:
2025-04-24 14:43:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:43 ago, cause: software
2025-04-24 14:43:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:38 [debug] Moves scheduled 32330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2623235009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:38 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21167, writes 0 timeouts 0
2025-04-24 14:43:38 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36322/37108
2025-04-24 14:43:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:38 [info] currentZPosition:0.0486
2025-04-24 14:43:39 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:40 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:40 [debug] Diagnostics for board 50:
2025-04-24 14:43:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:45:45 ago, cause: software
2025-04-24 14:43:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:40 [debug] Moves scheduled 32336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2621942680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:43:40 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21689, writes 0 timeouts 0
2025-04-24 14:43:40 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36026/37124
2025-04-24 14:43:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:40 [info] currentZPosition:0.0487
2025-04-24 14:43:40 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:42 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:42 [debug] Diagnostics for board 50:
2025-04-24 14:43:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:47 ago, cause: software
2025-04-24 14:43:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:42 [debug] Moves scheduled 32342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9036, max=15306
Sync err accum 97, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2620677515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:43:42 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21231, writes 0 timeouts 0
2025-04-24 14:43:42 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36350/37093
2025-04-24 14:43:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:42 [info] currentZPosition:0.0482
2025-04-24 14:43:42 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:43 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:43 [debug] Diagnostics for board 50:
2025-04-24 14:43:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:48 ago, cause: software
2025-04-24 14:43:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:43 [debug] Moves scheduled 32348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2619388263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:43:43 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21645, writes 0 timeouts 0
2025-04-24 14:43:43 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36016/37135
2025-04-24 14:43:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:43 [info] currentZPosition:0.0482
2025-04-24 14:43:45 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:45 [debug] Diagnostics for board 50:
2025-04-24 14:43:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:50 ago, cause: software
2025-04-24 14:43:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:45 [debug] Moves scheduled 32352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=14705
Sync err accum 95, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2618362089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:43:45 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17236, writes 0 timeouts 0
2025-04-24 14:43:45 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36178/37149
2025-04-24 14:43:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:45 [info] currentZPosition:0.0480
2025-04-24 14:43:46 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:46 [debug] Diagnostics for board 50:
2025-04-24 14:43:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:45:51 ago, cause: software
2025-04-24 14:43:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:46 [debug] Moves scheduled 32356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=486, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2617302016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:43:46 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17715, writes 11 timeouts 1
2025-04-24 14:43:46 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36012/37106
2025-04-24 14:43:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:46 [info] currentZPosition:0.0477
2025-04-24 14:43:47 [debug] Stopped at height 0.050 mm
2025-04-24 14:43:47 [debug] Diagnostics for board 50:
2025-04-24 14:43:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:52 ago, cause: software
2025-04-24 14:43:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:47 [debug] Moves scheduled 32360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2616312429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:43:47 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16603, writes 0 timeouts 0
2025-04-24 14:43:47 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36139/37157
2025-04-24 14:43:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8872, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:48 [info] currentZPosition:0.0496
2025-04-24 14:43:48 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:49 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:49 [debug] Diagnostics for board 50:
2025-04-24 14:43:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:54 ago, cause: software
2025-04-24 14:43:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:49 [debug] Moves scheduled 32366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2615008729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:49 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21899, writes 0 timeouts 0
2025-04-24 14:43:49 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 431, adv 36034/37125
2025-04-24 14:43:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:49 [info] currentZPosition:0.0486
2025-04-24 14:43:50 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:51 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:51 [debug] Diagnostics for board 50:
2025-04-24 14:43:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:45:56 ago, cause: software
2025-04-24 14:43:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:51 [debug] Moves scheduled 32372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2613757433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:51 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20988, writes 0 timeouts 0
2025-04-24 14:43:51 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36132/37129
2025-04-24 14:43:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:51 [info] currentZPosition:0.0488
2025-04-24 14:43:51 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:53 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:53 [debug] Diagnostics for board 50:
2025-04-24 14:43:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:45:57 ago, cause: software
2025-04-24 14:43:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:53 [debug] Moves scheduled 32378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 78, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2612467628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:43:53 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21651, writes 0 timeouts 0
2025-04-24 14:43:53 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35988/37160
2025-04-24 14:43:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:53 [info] currentZPosition:0.0488
2025-04-24 14:43:53 [debug] Stopped at height 0.047 mm
2025-04-24 14:43:54 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:54 [debug] Diagnostics for board 50:
2025-04-24 14:43:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:45:59 ago, cause: software
2025-04-24 14:43:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:54 [debug] Moves scheduled 32384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2611196718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:43:54 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21336, writes 0 timeouts 0
2025-04-24 14:43:54 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36076/37107
2025-04-24 14:43:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:54 [info] currentZPosition:0.0477
2025-04-24 14:43:56 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:56 [debug] Diagnostics for board 50:
2025-04-24 14:43:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:01 ago, cause: software
2025-04-24 14:43:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:56 [debug] Moves scheduled 32388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2610154649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:43:56 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17470, writes 0 timeouts 0
2025-04-24 14:43:56 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36016/37153
2025-04-24 14:43:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:56 [info] currentZPosition:0.0485
2025-04-24 14:43:57 [debug] Stopped at height 0.049 mm
2025-04-24 14:43:57 [debug] Diagnostics for board 50:
2025-04-24 14:43:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:02 ago, cause: software
2025-04-24 14:43:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:57 [debug] Moves scheduled 32392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2609140961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:43:57 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17008, writes 0 timeouts 0
2025-04-24 14:43:57 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36103/37125
2025-04-24 14:43:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8929, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:57 [info] currentZPosition:0.0490
2025-04-24 14:43:58 [debug] Stopped at height 0.048 mm
2025-04-24 14:43:58 [debug] Diagnostics for board 50:
2025-04-24 14:43:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:43:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:03 ago, cause: software
2025-04-24 14:43:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:43:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:43:58 [debug] Moves scheduled 32396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 93, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2608060181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:43:58 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18120, writes 0 timeouts 0
2025-04-24 14:43:58 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36021/37093
2025-04-24 14:43:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:43:59 [info] currentZPosition:0.0479
2025-04-24 14:44:00 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:00 [debug] Diagnostics for board 50:
2025-04-24 14:44:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:05 ago, cause: software
2025-04-24 14:44:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:00 [debug] Moves scheduled 32400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 88, peak jitter -2/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2607046712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:44:00 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17013, writes 0 timeouts 0
2025-04-24 14:44:00 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36113/37121
2025-04-24 14:44:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:00 [info] currentZPosition:0.0485
2025-04-24 14:44:01 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:01 [debug] Diagnostics for board 50:
2025-04-24 14:44:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:06 ago, cause: software
2025-04-24 14:44:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:01 [debug] Moves scheduled 32404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15306
Sync err accum 83, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2606010544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:44:01 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17397, writes 0 timeouts 0
2025-04-24 14:44:01 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36008/37122
2025-04-24 14:44:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:01 [info] currentZPosition:0.0496
2025-04-24 14:44:03 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:03 [debug] Diagnostics for board 50:
2025-04-24 14:44:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:07 ago, cause: software
2025-04-24 14:44:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:03 [debug] Moves scheduled 32408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2604959267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:44:03 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17618, writes 0 timeouts 0
2025-04-24 14:44:03 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36104/37105
2025-04-24 14:44:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:03 [info] currentZPosition:0.0483
2025-04-24 14:44:03 [debug] Stopped at height 0.047 mm
2025-04-24 14:44:04 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:04 [debug] Diagnostics for board 50:
2025-04-24 14:44:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:09 ago, cause: software
2025-04-24 14:44:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:04 [debug] Moves scheduled 32414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2603665438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:44:04 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21709, writes 0 timeouts 0
2025-04-24 14:44:04 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36006/37149
2025-04-24 14:44:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:04 [info] currentZPosition:0.0487
2025-04-24 14:44:06 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:06 [debug] Diagnostics for board 50:
2025-04-24 14:44:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:11 ago, cause: software
2025-04-24 14:44:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:06 [debug] Moves scheduled 32418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2602649487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:44:06 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17044, writes 0 timeouts 0
2025-04-24 14:44:06 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36080/37117
2025-04-24 14:44:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:06 [info] currentZPosition:0.0492
2025-04-24 14:44:07 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:07 [debug] Diagnostics for board 50:
2025-04-24 14:44:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:12 ago, cause: software
2025-04-24 14:44:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:07 [debug] Moves scheduled 32422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2601577066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:07 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18002, writes 0 timeouts 0
2025-04-24 14:44:07 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36017/37082
2025-04-24 14:44:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:07 [info] currentZPosition:0.0484
2025-04-24 14:44:08 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:08 [debug] Diagnostics for board 50:
2025-04-24 14:44:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:13 ago, cause: software
2025-04-24 14:44:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:08 [debug] Moves scheduled 32426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2600565837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:08 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16972, writes 0 timeouts 0
2025-04-24 14:44:08 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37075
2025-04-24 14:44:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:09 [info] currentZPosition:0.0489
2025-04-24 14:44:10 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:10 [debug] Diagnostics for board 50:
2025-04-24 14:44:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:46:15 ago, cause: software
2025-04-24 14:44:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:10 [debug] Moves scheduled 32430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2599491990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:44:10 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18004, writes 0 timeouts 0
2025-04-24 14:44:10 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36039/37160
2025-04-24 14:44:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:10 [info] currentZPosition:0.0481
2025-04-24 14:44:11 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:11 [debug] Diagnostics for board 50:
2025-04-24 14:44:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:16 ago, cause: software
2025-04-24 14:44:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:11 [debug] Moves scheduled 32434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2598489684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:44:11 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16827, writes 0 timeouts 0
2025-04-24 14:44:11 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36094/37140
2025-04-24 14:44:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:11 [info] currentZPosition:0.0492
2025-04-24 14:44:13 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:13 [debug] Diagnostics for board 50:
2025-04-24 14:44:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:46:18 ago, cause: software
2025-04-24 14:44:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:13 [debug] Moves scheduled 32438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2597424441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:44:13 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17863, writes 0 timeouts 0
2025-04-24 14:44:13 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36076/37139
2025-04-24 14:44:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:13 [info] currentZPosition:0.0487
2025-04-24 14:44:14 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:14 [debug] Diagnostics for board 50:
2025-04-24 14:44:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:19 ago, cause: software
2025-04-24 14:44:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:14 [debug] Moves scheduled 32442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2596393354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:44:14 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17299, writes 0 timeouts 0
2025-04-24 14:44:14 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36109/37119
2025-04-24 14:44:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:14 [info] currentZPosition:0.0482
2025-04-24 14:44:15 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:15 [debug] Diagnostics for board 50:
2025-04-24 14:44:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:20 ago, cause: software
2025-04-24 14:44:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:15 [debug] Moves scheduled 32446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2595330319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:44:15 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17835, writes 0 timeouts 0
2025-04-24 14:44:15 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36001/37137
2025-04-24 14:44:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:16 [info] currentZPosition:0.0479
2025-04-24 14:44:17 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:17 [debug] Diagnostics for board 50:
2025-04-24 14:44:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:22 ago, cause: software
2025-04-24 14:44:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:17 [debug] Moves scheduled 32450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2594315199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:44:17 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17078, writes 0 timeouts 0
2025-04-24 14:44:17 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36083/37141
2025-04-24 14:44:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:17 [info] currentZPosition:0.0481
2025-04-24 14:44:18 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:18 [debug] Diagnostics for board 50:
2025-04-24 14:44:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:46:23 ago, cause: software
2025-04-24 14:44:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:18 [debug] Moves scheduled 32454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2593269566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:44:18 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17512, writes 0 timeouts 0
2025-04-24 14:44:18 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36041/37170
2025-04-24 14:44:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:18 [info] currentZPosition:0.0489
2025-04-24 14:44:20 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:20 [debug] Diagnostics for board 50:
2025-04-24 14:44:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:46:24 ago, cause: software
2025-04-24 14:44:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:20 [debug] Moves scheduled 32458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2592236281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:44:20 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17319, writes 0 timeouts 0
2025-04-24 14:44:20 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36100/37098
2025-04-24 14:44:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:20 [info] currentZPosition:0.0482
2025-04-24 14:44:21 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:21 [debug] Diagnostics for board 50:
2025-04-24 14:44:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:26 ago, cause: software
2025-04-24 14:44:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:21 [debug] Moves scheduled 32462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -1/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2591180682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:44:21 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17733, writes 0 timeouts 0
2025-04-24 14:44:21 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36023/37133
2025-04-24 14:44:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:21 [info] currentZPosition:0.0483
2025-04-24 14:44:22 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:22 [debug] Diagnostics for board 50:
2025-04-24 14:44:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:46:27 ago, cause: software
2025-04-24 14:44:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:22 [debug] Moves scheduled 32466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2590162219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:44:22 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17060, writes 0 timeouts 0
2025-04-24 14:44:22 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36107/37084
2025-04-24 14:44:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:22 [info] currentZPosition:0.0486
2025-04-24 14:44:24 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:24 [debug] Diagnostics for board 50:
2025-04-24 14:44:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:29 ago, cause: software
2025-04-24 14:44:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:24 [debug] Moves scheduled 32470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2589124786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:24 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17410, writes 0 timeouts 0
2025-04-24 14:44:24 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36028/37113
2025-04-24 14:44:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8922, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:24 [info] currentZPosition:0.0496
2025-04-24 14:44:25 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:25 [debug] Diagnostics for board 50:
2025-04-24 14:44:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:30 ago, cause: software
2025-04-24 14:44:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:25 [debug] Moves scheduled 32474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2588079868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:44:25 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17555, writes 0 timeouts 0
2025-04-24 14:44:25 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36092/37094
2025-04-24 14:44:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:25 [info] currentZPosition:0.0483
2025-04-24 14:44:26 [debug] Stopped at height 0.047 mm
2025-04-24 14:44:27 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:27 [debug] Diagnostics for board 50:
2025-04-24 14:44:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:32 ago, cause: software
2025-04-24 14:44:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:27 [debug] Moves scheduled 32480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2586787900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:27 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21652, writes 0 timeouts 0
2025-04-24 14:44:27 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36072/37083
2025-04-24 14:44:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:27 [info] currentZPosition:0.0490
2025-04-24 14:44:27 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:29 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:29 [debug] Diagnostics for board 50:
2025-04-24 14:44:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:33 ago, cause: software
2025-04-24 14:44:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:29 [debug] Moves scheduled 32486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2585528775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:44:29 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21135, writes 0 timeouts 0
2025-04-24 14:44:29 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36096/37085
2025-04-24 14:44:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:29 [info] currentZPosition:0.0490
2025-04-24 14:44:29 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:30 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:30 [debug] Diagnostics for board 50:
2025-04-24 14:44:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:35 ago, cause: software
2025-04-24 14:44:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:30 [debug] Moves scheduled 32492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2584247116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:44:30 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21530, writes 0 timeouts 0
2025-04-24 14:44:30 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36086/37149
2025-04-24 14:44:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:30 [info] currentZPosition:0.0495
2025-04-24 14:44:31 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:32 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:32 [debug] Diagnostics for board 50:
2025-04-24 14:44:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:46:37 ago, cause: software
2025-04-24 14:44:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:32 [debug] Moves scheduled 32498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 82, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2582999059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:44:32 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20927, writes 0 timeouts 0
2025-04-24 14:44:32 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36097/37135
2025-04-24 14:44:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:32 [info] currentZPosition:0.0500
2025-04-24 14:44:32 [debug] Stopped at height 0.048 mm
2025-04-24 14:44:34 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:34 [debug] Diagnostics for board 50:
2025-04-24 14:44:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:46:39 ago, cause: software
2025-04-24 14:44:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:34 [debug] Moves scheduled 32504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2581697538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:44:34 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21834, writes 0 timeouts 0
2025-04-24 14:44:34 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36003/37136
2025-04-24 14:44:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:34 [info] currentZPosition:0.0492
2025-04-24 14:44:35 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:35 [debug] Diagnostics for board 50:
2025-04-24 14:44:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:40 ago, cause: software
2025-04-24 14:44:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:35 [debug] Moves scheduled 32508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2580681980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:44:35 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17061, writes 0 timeouts 0
2025-04-24 14:44:35 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36142/37092
2025-04-24 14:44:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:35 [info] currentZPosition:0.0495
2025-04-24 14:44:36 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:36 [debug] Diagnostics for board 50:
2025-04-24 14:44:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:46:41 ago, cause: software
2025-04-24 14:44:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:36 [debug] Moves scheduled 32512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2579616429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:44:36 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17847, writes 0 timeouts 0
2025-04-24 14:44:36 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36026/37115
2025-04-24 14:44:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:36 [info] currentZPosition:0.0491
2025-04-24 14:44:38 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:38 [debug] Diagnostics for board 50:
2025-04-24 14:44:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:43 ago, cause: software
2025-04-24 14:44:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:38 [debug] Moves scheduled 32516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 84, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2578595798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:38 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17151, writes 0 timeouts 0
2025-04-24 14:44:38 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36136/37156
2025-04-24 14:44:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:38 [info] currentZPosition:0.0491
2025-04-24 14:44:39 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:39 [debug] Diagnostics for board 50:
2025-04-24 14:44:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:44 ago, cause: software
2025-04-24 14:44:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:39 [debug] Moves scheduled 32520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2577536481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:44:39 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17765, writes 0 timeouts 0
2025-04-24 14:44:39 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36023/37121
2025-04-24 14:44:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:39 [info] currentZPosition:0.0492
2025-04-24 14:44:41 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:41 [debug] Diagnostics for board 50:
2025-04-24 14:44:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:45 ago, cause: software
2025-04-24 14:44:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:41 [debug] Moves scheduled 32524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 93, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2576513128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:41 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17177, writes 0 timeouts 0
2025-04-24 14:44:41 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36212/37149
2025-04-24 14:44:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:41 [info] currentZPosition:0.0492
2025-04-24 14:44:42 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:42 [debug] Diagnostics for board 50:
2025-04-24 14:44:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:47 ago, cause: software
2025-04-24 14:44:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:42 [debug] Moves scheduled 32528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2575464878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:42 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17590, writes 0 timeouts 0
2025-04-24 14:44:42 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36016/37125
2025-04-24 14:44:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:42 [info] currentZPosition:0.0497
2025-04-24 14:44:43 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:43 [debug] Diagnostics for board 50:
2025-04-24 14:44:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:46:48 ago, cause: software
2025-04-24 14:44:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:43 [debug] Moves scheduled 32532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2574431301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:44:43 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17330, writes 0 timeouts 0
2025-04-24 14:44:43 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36379/37113
2025-04-24 14:44:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:43 [info] currentZPosition:0.0494
2025-04-24 14:44:45 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:45 [debug] Diagnostics for board 50:
2025-04-24 14:44:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:50 ago, cause: software
2025-04-24 14:44:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:45 [debug] Moves scheduled 32536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2573385060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:44:45 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17561, writes 0 timeouts 0
2025-04-24 14:44:45 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36031/37126
2025-04-24 14:44:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:45 [info] currentZPosition:0.0499
2025-04-24 14:44:46 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:46 [debug] Diagnostics for board 50:
2025-04-24 14:44:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:46:51 ago, cause: software
2025-04-24 14:44:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:46 [debug] Moves scheduled 32540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2572342944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:44:46 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17481, writes 0 timeouts 0
2025-04-24 14:44:46 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36323/37168
2025-04-24 14:44:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:46 [info] currentZPosition:0.0489
2025-04-24 14:44:47 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:47 [debug] Diagnostics for board 50:
2025-04-24 14:44:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:46:52 ago, cause: software
2025-04-24 14:44:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:47 [debug] Moves scheduled 32544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2571312527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:44:47 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17283, writes 0 timeouts 0
2025-04-24 14:44:47 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36056/37131
2025-04-24 14:44:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:48 [info] currentZPosition:0.0503
2025-04-24 14:44:48 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:49 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:49 [debug] Diagnostics for board 50:
2025-04-24 14:44:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:46:54 ago, cause: software
2025-04-24 14:44:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:49 [debug] Moves scheduled 32550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2570046555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:44:49 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21233, writes 0 timeouts 0
2025-04-24 14:44:49 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36319/37147
2025-04-24 14:44:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:49 [info] currentZPosition:0.0496
2025-04-24 14:44:51 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:51 [debug] Diagnostics for board 50:
2025-04-24 14:44:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:55 ago, cause: software
2025-04-24 14:44:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:51 [debug] Moves scheduled 32554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2568983414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:44:51 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17865, writes 0 timeouts 0
2025-04-24 14:44:51 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36081/37071
2025-04-24 14:44:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:51 [info] currentZPosition:0.0495
2025-04-24 14:44:52 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:52 [debug] Diagnostics for board 50:
2025-04-24 14:44:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:57 ago, cause: software
2025-04-24 14:44:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:52 [debug] Moves scheduled 32558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2567948143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:44:52 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17354, writes 0 timeouts 0
2025-04-24 14:44:52 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36345/37106
2025-04-24 14:44:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:52 [info] currentZPosition:0.0489
2025-04-24 14:44:53 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:53 [debug] Diagnostics for board 50:
2025-04-24 14:44:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:46:58 ago, cause: software
2025-04-24 14:44:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:53 [debug] Moves scheduled 32562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2566890934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:44:53 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17730, writes 0 timeouts 0
2025-04-24 14:44:53 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36077/37150
2025-04-24 14:44:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:53 [info] currentZPosition:0.0487
2025-04-24 14:44:55 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:55 [debug] Diagnostics for board 50:
2025-04-24 14:44:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:00 ago, cause: software
2025-04-24 14:44:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:55 [debug] Moves scheduled 32566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2565869355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:44:55 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17126, writes 0 timeouts 0
2025-04-24 14:44:55 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36318/37106
2025-04-24 14:44:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:55 [info] currentZPosition:0.0488
2025-04-24 14:44:56 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:56 [debug] Diagnostics for board 50:
2025-04-24 14:44:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:01 ago, cause: software
2025-04-24 14:44:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:56 [debug] Moves scheduled 32570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2564831829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:44:56 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17426, writes 0 timeouts 0
2025-04-24 14:44:56 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36024/37136
2025-04-24 14:44:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:56 [info] currentZPosition:0.0497
2025-04-24 14:44:57 [debug] Stopped at height 0.050 mm
2025-04-24 14:44:57 [debug] Diagnostics for board 50:
2025-04-24 14:44:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:02 ago, cause: software
2025-04-24 14:44:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:57 [debug] Moves scheduled 32574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2563804307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:44:57 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17245, writes 0 timeouts 0
2025-04-24 14:44:57 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36307/37152
2025-04-24 14:44:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:58 [info] currentZPosition:0.0495
2025-04-24 14:44:59 [debug] Stopped at height 0.049 mm
2025-04-24 14:44:59 [debug] Diagnostics for board 50:
2025-04-24 14:44:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:44:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:04 ago, cause: software
2025-04-24 14:44:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:44:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:44:59 [debug] Moves scheduled 32578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2562740956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:44:59 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17829, writes 0 timeouts 0
2025-04-24 14:44:59 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36018/37145
2025-04-24 14:44:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:44:59 [info] currentZPosition:0.0494
2025-04-24 14:45:00 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:00 [debug] Diagnostics for board 50:
2025-04-24 14:45:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:05 ago, cause: software
2025-04-24 14:45:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:00 [debug] Moves scheduled 32582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2561717360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:00 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17174, writes 0 timeouts 0
2025-04-24 14:45:00 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36351/37111
2025-04-24 14:45:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:00 [info] currentZPosition:0.0493
2025-04-24 14:45:02 [debug] Stopped at height 0.048 mm
2025-04-24 14:45:02 [debug] Diagnostics for board 50:
2025-04-24 14:45:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:07 ago, cause: software
2025-04-24 14:45:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:02 [debug] Moves scheduled 32586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2560635734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:45:02 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18154, writes 0 timeouts 0
2025-04-24 14:45:02 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36049/37101
2025-04-24 14:45:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:02 [info] currentZPosition:0.0481
2025-04-24 14:45:03 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:03 [debug] Diagnostics for board 50:
2025-04-24 14:45:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:47:08 ago, cause: software
2025-04-24 14:45:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:03 [debug] Moves scheduled 32590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2559650950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:03 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16525, writes 0 timeouts 0
2025-04-24 14:45:03 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36362/37094
2025-04-24 14:45:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:03 [info] currentZPosition:0.0504
2025-04-24 14:45:03 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:05 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:05 [debug] Diagnostics for board 50:
2025-04-24 14:45:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:10 ago, cause: software
2025-04-24 14:45:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:05 [debug] Moves scheduled 32596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2558349078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:45:05 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21847, writes 0 timeouts 0
2025-04-24 14:45:05 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35991/37169
2025-04-24 14:45:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:05 [info] currentZPosition:0.0498
2025-04-24 14:45:05 [debug] Stopped at height 0.048 mm
2025-04-24 14:45:06 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:06 [debug] Diagnostics for board 50:
2025-04-24 14:45:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:11 ago, cause: software
2025-04-24 14:45:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:06 [debug] Moves scheduled 32602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2557110106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:45:06 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20791, writes 0 timeouts 0
2025-04-24 14:45:06 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36289/37145
2025-04-24 14:45:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:07 [info] currentZPosition:0.0507
2025-04-24 14:45:07 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:08 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:08 [debug] Diagnostics for board 50:
2025-04-24 14:45:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:13 ago, cause: software
2025-04-24 14:45:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:08 [debug] Moves scheduled 32608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2555823750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:45:08 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21587, writes 0 timeouts 0
2025-04-24 14:45:08 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36077/37151
2025-04-24 14:45:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:08 [info] currentZPosition:0.0511
2025-04-24 14:45:09 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:10 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:10 [debug] Diagnostics for board 50:
2025-04-24 14:45:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:15 ago, cause: software
2025-04-24 14:45:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:10 [debug] Moves scheduled 32614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2554539743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:45:10 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21533, writes 0 timeouts 0
2025-04-24 14:45:10 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36301/37155
2025-04-24 14:45:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:10 [info] currentZPosition:0.0495
2025-04-24 14:45:11 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:11 [debug] Diagnostics for board 50:
2025-04-24 14:45:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:16 ago, cause: software
2025-04-24 14:45:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:11 [debug] Moves scheduled 32618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2553489489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:45:11 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17625, writes 0 timeouts 0
2025-04-24 14:45:11 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36066/37150
2025-04-24 14:45:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:11 [info] currentZPosition:0.0497
2025-04-24 14:45:13 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:13 [debug] Diagnostics for board 50:
2025-04-24 14:45:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:17 ago, cause: software
2025-04-24 14:45:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:13 [debug] Moves scheduled 32622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2552458235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:45:13 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17308, writes 0 timeouts 0
2025-04-24 14:45:13 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36303/37093
2025-04-24 14:45:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:13 [info] currentZPosition:0.0494
2025-04-24 14:45:14 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:14 [debug] Diagnostics for board 50:
2025-04-24 14:45:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:19 ago, cause: software
2025-04-24 14:45:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:14 [debug] Moves scheduled 32626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2551421012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:45:14 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17399, writes 0 timeouts 0
2025-04-24 14:45:14 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36038/37116
2025-04-24 14:45:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:14 [info] currentZPosition:0.0505
2025-04-24 14:45:15 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:15 [debug] Diagnostics for board 50:
2025-04-24 14:45:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:20 ago, cause: software
2025-04-24 14:45:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:15 [debug] Moves scheduled 32630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2550384183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:45:15 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17411, writes 0 timeouts 0
2025-04-24 14:45:15 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36371/37127
2025-04-24 14:45:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:15 [info] currentZPosition:0.0497
2025-04-24 14:45:17 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:17 [debug] Diagnostics for board 50:
2025-04-24 14:45:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:22 ago, cause: software
2025-04-24 14:45:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:17 [debug] Moves scheduled 32634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2549332752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:17 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17633, writes 0 timeouts 0
2025-04-24 14:45:17 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36087/37107
2025-04-24 14:45:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:17 [info] currentZPosition:0.0501
2025-04-24 14:45:18 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:18 [debug] Diagnostics for board 50:
2025-04-24 14:45:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:23 ago, cause: software
2025-04-24 14:45:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:18 [debug] Moves scheduled 32638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2548307987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:45:18 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17198, writes 0 timeouts 0
2025-04-24 14:45:18 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36344/37094
2025-04-24 14:45:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:18 [info] currentZPosition:0.0501
2025-04-24 14:45:20 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:20 [debug] Diagnostics for board 50:
2025-04-24 14:45:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:24 ago, cause: software
2025-04-24 14:45:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:20 [debug] Moves scheduled 32642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2547269344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:20 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17427, writes 0 timeouts 0
2025-04-24 14:45:20 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36005/37134
2025-04-24 14:45:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8921, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:20 [info] currentZPosition:0.0510
2025-04-24 14:45:21 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:21 [debug] Diagnostics for board 50:
2025-04-24 14:45:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:26 ago, cause: software
2025-04-24 14:45:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:21 [debug] Moves scheduled 32646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2546212356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:45:21 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17725, writes 0 timeouts 0
2025-04-24 14:45:21 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36305/37121
2025-04-24 14:45:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:21 [info] currentZPosition:0.0491
2025-04-24 14:45:21 [debug] Stopped at height 0.048 mm
2025-04-24 14:45:23 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:23 [debug] Diagnostics for board 50:
2025-04-24 14:45:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:28 ago, cause: software
2025-04-24 14:45:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:23 [debug] Moves scheduled 32652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2544934365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:45:23 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21455, writes 0 timeouts 0
2025-04-24 14:45:23 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36011/37145
2025-04-24 14:45:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:23 [info] currentZPosition:0.0500
2025-04-24 14:45:23 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:24 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:24 [debug] Diagnostics for board 50:
2025-04-24 14:45:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:47:29 ago, cause: software
2025-04-24 14:45:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:24 [debug] Moves scheduled 32658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2543671498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:45:24 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21212, writes 0 timeouts 0
2025-04-24 14:45:24 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36356/37110
2025-04-24 14:45:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:24 [info] currentZPosition:0.0499
2025-04-24 14:45:25 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:26 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:26 [debug] Diagnostics for board 50:
2025-04-24 14:45:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:31 ago, cause: software
2025-04-24 14:45:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:26 [debug] Moves scheduled 32664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2542391045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:26 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21468, writes 0 timeouts 0
2025-04-24 14:45:26 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36013/37133
2025-04-24 14:45:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:26 [info] currentZPosition:0.0507
2025-04-24 14:45:26 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:28 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:28 [debug] Diagnostics for board 50:
2025-04-24 14:45:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:33 ago, cause: software
2025-04-24 14:45:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:28 [debug] Moves scheduled 32670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2541136653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:28 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21061, writes 0 timeouts 0
2025-04-24 14:45:28 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36361/37096
2025-04-24 14:45:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:28 [info] currentZPosition:0.0510
2025-04-24 14:45:28 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:29 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:29 [debug] Diagnostics for board 50:
2025-04-24 14:45:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:34 ago, cause: software
2025-04-24 14:45:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:29 [debug] Moves scheduled 32676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2539851995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:45:29 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21582, writes 0 timeouts 0
2025-04-24 14:45:29 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36018/37122
2025-04-24 14:45:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:30 [info] currentZPosition:0.0512
2025-04-24 14:45:30 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:31 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:31 [debug] Diagnostics for board 50:
2025-04-24 14:45:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:36 ago, cause: software
2025-04-24 14:45:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:31 [debug] Moves scheduled 32682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2538579827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:45:31 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21317, writes 0 timeouts 0
2025-04-24 14:45:31 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36319/37158
2025-04-24 14:45:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:31 [info] currentZPosition:0.0508
2025-04-24 14:45:32 [debug] Stopped at height 0.049 mm
2025-04-24 14:45:33 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:33 [debug] Diagnostics for board 50:
2025-04-24 14:45:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:38 ago, cause: software
2025-04-24 14:45:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:33 [debug] Moves scheduled 32688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2537287135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:45:33 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21691, writes 0 timeouts 0
2025-04-24 14:45:33 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36016/37132
2025-04-24 14:45:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:33 [info] currentZPosition:0.0507
2025-04-24 14:45:33 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:35 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:35 [debug] Diagnostics for board 50:
2025-04-24 14:45:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:39 ago, cause: software
2025-04-24 14:45:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:35 [debug] Moves scheduled 32694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2536024981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:45:35 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21194, writes 0 timeouts 0
2025-04-24 14:45:35 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36329/37117
2025-04-24 14:45:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:35 [info] currentZPosition:0.0505
2025-04-24 14:45:36 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:36 [debug] Diagnostics for board 50:
2025-04-24 14:45:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:41 ago, cause: software
2025-04-24 14:45:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:36 [debug] Moves scheduled 32698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2534980619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:45:36 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17518, writes 0 timeouts 0
2025-04-24 14:45:36 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36040/37105
2025-04-24 14:45:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:36 [info] currentZPosition:0.0512
2025-04-24 14:45:37 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:37 [debug] Diagnostics for board 50:
2025-04-24 14:45:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:42 ago, cause: software
2025-04-24 14:45:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:37 [debug] Moves scheduled 32702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 69, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2533932225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:37 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17593, writes 0 timeouts 0
2025-04-24 14:45:37 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36168/37135
2025-04-24 14:45:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:37 [info] currentZPosition:0.0498
2025-04-24 14:45:38 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:39 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:39 [debug] Diagnostics for board 50:
2025-04-24 14:45:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:47:44 ago, cause: software
2025-04-24 14:45:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:39 [debug] Moves scheduled 32708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2532656470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:45:39 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21407, writes 0 timeouts 0
2025-04-24 14:45:39 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36002/37116
2025-04-24 14:45:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:39 [info] currentZPosition:0.0507
2025-04-24 14:45:40 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:40 [debug] Diagnostics for board 50:
2025-04-24 14:45:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:47:45 ago, cause: software
2025-04-24 14:45:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:40 [debug] Moves scheduled 32712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2531635020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:45:40 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17140, writes 0 timeouts 0
2025-04-24 14:45:40 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36107/37088
2025-04-24 14:45:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:40 [info] currentZPosition:0.0506
2025-04-24 14:45:42 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:42 [debug] Diagnostics for board 50:
2025-04-24 14:45:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:47 ago, cause: software
2025-04-24 14:45:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:42 [debug] Moves scheduled 32716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2530576151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:45:42 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17776, writes 0 timeouts 0
2025-04-24 14:45:42 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36052/37138
2025-04-24 14:45:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:42 [info] currentZPosition:0.0506
2025-04-24 14:45:43 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:43 [debug] Diagnostics for board 50:
2025-04-24 14:45:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:48 ago, cause: software
2025-04-24 14:45:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:43 [debug] Moves scheduled 32720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2529569718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:45:43 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16873, writes 0 timeouts 0
2025-04-24 14:45:43 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36139/37116
2025-04-24 14:45:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:43 [info] currentZPosition:0.0514
2025-04-24 14:45:45 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:45 [debug] Diagnostics for board 50:
2025-04-24 14:45:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:49 ago, cause: software
2025-04-24 14:45:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:45 [debug] Moves scheduled 32724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2528498450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:45:45 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17966, writes 0 timeouts 0
2025-04-24 14:45:45 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36103/37109
2025-04-24 14:45:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:45 [info] currentZPosition:0.0506
2025-04-24 14:45:46 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:46 [debug] Diagnostics for board 50:
2025-04-24 14:45:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:51 ago, cause: software
2025-04-24 14:45:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:46 [debug] Moves scheduled 32728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2527487920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:45:46 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16954, writes 0 timeouts 0
2025-04-24 14:45:46 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36145/37141
2025-04-24 14:45:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:46 [info] currentZPosition:0.0512
2025-04-24 14:45:47 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:47 [debug] Diagnostics for board 50:
2025-04-24 14:45:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:52 ago, cause: software
2025-04-24 14:45:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:47 [debug] Moves scheduled 32732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 110, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2526426403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:45:47 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17804, writes 0 timeouts 0
2025-04-24 14:45:47 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36005/37077
2025-04-24 14:45:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:47 [info] currentZPosition:0.0510
2025-04-24 14:45:49 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:49 [debug] Diagnostics for board 50:
2025-04-24 14:45:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:54 ago, cause: software
2025-04-24 14:45:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:49 [debug] Moves scheduled 32736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9259, max=15306
Sync err accum 107, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2525401161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:45:49 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17199, writes 0 timeouts 0
2025-04-24 14:45:49 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36081/37139
2025-04-24 14:45:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:49 [info] currentZPosition:0.0506
2025-04-24 14:45:50 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:50 [debug] Diagnostics for board 50:
2025-04-24 14:45:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:55 ago, cause: software
2025-04-24 14:45:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:50 [debug] Moves scheduled 32740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2524346896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:45:50 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17699, writes 0 timeouts 0
2025-04-24 14:45:50 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36014/37123
2025-04-24 14:45:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:50 [info] currentZPosition:0.0509
2025-04-24 14:45:51 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:51 [debug] Diagnostics for board 50:
2025-04-24 14:45:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:47:56 ago, cause: software
2025-04-24 14:45:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:51 [debug] Moves scheduled 32744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2523335111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:45:51 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16964, writes 0 timeouts 0
2025-04-24 14:45:51 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36138/37093
2025-04-24 14:45:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:52 [info] currentZPosition:0.0514
2025-04-24 14:45:53 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:53 [debug] Diagnostics for board 50:
2025-04-24 14:45:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:58 ago, cause: software
2025-04-24 14:45:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:53 [debug] Moves scheduled 32748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2522257323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:45:53 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18083, writes 0 timeouts 0
2025-04-24 14:45:53 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36088/37125
2025-04-24 14:45:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:53 [info] currentZPosition:0.0502
2025-04-24 14:45:54 [debug] Stopped at height 0.052 mm
2025-04-24 14:45:54 [debug] Diagnostics for board 50:
2025-04-24 14:45:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:47:59 ago, cause: software
2025-04-24 14:45:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:54 [debug] Moves scheduled 32752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2521262090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:45:54 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16721, writes 0 timeouts 0
2025-04-24 14:45:54 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36113/37124
2025-04-24 14:45:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:54 [info] currentZPosition:0.0517
2025-04-24 14:45:55 [debug] Stopped at height 0.050 mm
2025-04-24 14:45:56 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:56 [debug] Diagnostics for board 50:
2025-04-24 14:45:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:48:01 ago, cause: software
2025-04-24 14:45:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:56 [debug] Moves scheduled 32758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2519951118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:45:56 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21985, writes 0 timeouts 0
2025-04-24 14:45:56 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36026/37130
2025-04-24 14:45:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:56 [info] currentZPosition:0.0508
2025-04-24 14:45:57 [debug] Stopped at height 0.052 mm
2025-04-24 14:45:57 [debug] Diagnostics for board 50:
2025-04-24 14:45:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:02 ago, cause: software
2025-04-24 14:45:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:57 [debug] Moves scheduled 32762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2518902772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:45:57 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17605, writes 0 timeouts 0
2025-04-24 14:45:57 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36085/37135
2025-04-24 14:45:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:57 [info] currentZPosition:0.0516
2025-04-24 14:45:59 [debug] Stopped at height 0.051 mm
2025-04-24 14:45:59 [debug] Diagnostics for board 50:
2025-04-24 14:45:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:45:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:04 ago, cause: software
2025-04-24 14:45:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:45:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:45:59 [debug] Moves scheduled 32766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2517838655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:45:59 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17851, writes 0 timeouts 0
2025-04-24 14:45:59 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36040/37102
2025-04-24 14:45:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:45:59 [info] currentZPosition:0.0514
2025-04-24 14:46:00 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:00 [debug] Diagnostics for board 50:
2025-04-24 14:46:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:05 ago, cause: software
2025-04-24 14:46:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:00 [debug] Moves scheduled 32770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2516813710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:46:00 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17193, writes 0 timeouts 0
2025-04-24 14:46:00 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36098/37125
2025-04-24 14:46:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:00 [info] currentZPosition:0.0511
2025-04-24 14:46:02 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:02 [debug] Diagnostics for board 50:
2025-04-24 14:46:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:48:06 ago, cause: software
2025-04-24 14:46:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:02 [debug] Moves scheduled 32774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 115, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2515756538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:46:02 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17729, writes 0 timeouts 0
2025-04-24 14:46:02 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36041/37123
2025-04-24 14:46:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:02 [info] currentZPosition:0.0511
2025-04-24 14:46:03 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:03 [debug] Diagnostics for board 50:
2025-04-24 14:46:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:08 ago, cause: software
2025-04-24 14:46:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:03 [debug] Moves scheduled 32778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 121, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2514735004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:46:03 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17129, writes 0 timeouts 0
2025-04-24 14:46:03 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36093/37110
2025-04-24 14:46:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:03 [info] currentZPosition:0.0512
2025-04-24 14:46:04 [debug] Stopped at height 0.050 mm
2025-04-24 14:46:04 [debug] Diagnostics for board 50:
2025-04-24 14:46:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:09 ago, cause: software
2025-04-24 14:46:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:04 [debug] Moves scheduled 32782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 123, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2513667493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:46:04 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17932, writes 0 timeouts 0
2025-04-24 14:46:04 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36017/37147
2025-04-24 14:46:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:04 [info] currentZPosition:0.0505
2025-04-24 14:46:06 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:06 [debug] Diagnostics for board 50:
2025-04-24 14:46:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:11 ago, cause: software
2025-04-24 14:46:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:06 [debug] Moves scheduled 32786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 124, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2512649904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:06 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17044, writes 0 timeouts 0
2025-04-24 14:46:06 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36130/37135
2025-04-24 14:46:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:06 [info] currentZPosition:0.0509
2025-04-24 14:46:07 [debug] Stopped at height 0.050 mm
2025-04-24 14:46:07 [debug] Diagnostics for board 50:
2025-04-24 14:46:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:12 ago, cause: software
2025-04-24 14:46:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:07 [debug] Moves scheduled 32790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 121, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2511573263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:46:07 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18070, writes 0 timeouts 0
2025-04-24 14:46:07 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36002/37158
2025-04-24 14:46:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:07 [info] currentZPosition:0.0498
2025-04-24 14:46:08 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:08 [debug] Diagnostics for board 50:
2025-04-24 14:46:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:13 ago, cause: software
2025-04-24 14:46:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:08 [debug] Moves scheduled 32794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 119, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2510588893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:46:08 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16529, writes 0 timeouts 0
2025-04-24 14:46:08 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36077/37158
2025-04-24 14:46:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:09 [info] currentZPosition:0.0518
2025-04-24 14:46:09 [debug] Stopped at height 0.050 mm
2025-04-24 14:46:10 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:10 [debug] Diagnostics for board 50:
2025-04-24 14:46:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:15 ago, cause: software
2025-04-24 14:46:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:10 [debug] Moves scheduled 32800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 2509298301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, 
2025-04-24 14:46:10 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21656, writes 0 timeouts 0
2025-04-24 14:46:10 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36028/37091
2025-04-24 14:46:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:10 [info] currentZPosition:0.0515
2025-04-24 14:46:12 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:12 [debug] Diagnostics for board 50:
2025-04-24 14:46:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:16 ago, cause: software
2025-04-24 14:46:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:12 [debug] Moves scheduled 32804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2508279835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:46:12 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17088, writes 0 timeouts 0
2025-04-24 14:46:12 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36069/37097
2025-04-24 14:46:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:12 [info] currentZPosition:0.0517
2025-04-24 14:46:13 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:13 [debug] Diagnostics for board 50:
2025-04-24 14:46:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:18 ago, cause: software
2025-04-24 14:46:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:13 [debug] Moves scheduled 32808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 87, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2507221316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:46:13 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17768, writes 0 timeouts 0
2025-04-24 14:46:13 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36046/37165
2025-04-24 14:46:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:13 [info] currentZPosition:0.0516
2025-04-24 14:46:14 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:14 [debug] Diagnostics for board 50:
2025-04-24 14:46:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:19 ago, cause: software
2025-04-24 14:46:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:14 [debug] Moves scheduled 32812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -2/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2506189722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:14 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17301, writes 0 timeouts 0
2025-04-24 14:46:14 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36161/37111
2025-04-24 14:46:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:14 [info] currentZPosition:0.0514
2025-04-24 14:46:16 [debug] Stopped at height 0.050 mm
2025-04-24 14:46:16 [debug] Diagnostics for board 50:
2025-04-24 14:46:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:21 ago, cause: software
2025-04-24 14:46:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:16 [debug] Moves scheduled 32816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2505108399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:16 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18146, writes 0 timeouts 0
2025-04-24 14:46:16 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36014/37087
2025-04-24 14:46:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:16 [info] currentZPosition:0.0504
2025-04-24 14:46:17 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:17 [debug] Diagnostics for board 50:
2025-04-24 14:46:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:22 ago, cause: software
2025-04-24 14:46:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:17 [debug] Moves scheduled 32820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2504099901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:46:17 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16929, writes 0 timeouts 0
2025-04-24 14:46:17 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36074/37121
2025-04-24 14:46:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:17 [info] currentZPosition:0.0511
2025-04-24 14:46:18 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:18 [debug] Diagnostics for board 50:
2025-04-24 14:46:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:23 ago, cause: software
2025-04-24 14:46:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:18 [debug] Moves scheduled 32824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2503053231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:46:18 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17551, writes 0 timeouts 0
2025-04-24 14:46:18 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 438, adv 35999/37137
2025-04-24 14:46:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:19 [info] currentZPosition:0.0517
2025-04-24 14:46:20 [debug] Stopped at height 0.053 mm
2025-04-24 14:46:20 [debug] Diagnostics for board 50:
2025-04-24 14:46:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:25 ago, cause: software
2025-04-24 14:46:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:20 [debug] Moves scheduled 32828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2502052533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:46:20 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16791, writes 0 timeouts 0
2025-04-24 14:46:20 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36071/37101
2025-04-24 14:46:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8894, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:20 [info] currentZPosition:0.0528
2025-04-24 14:46:21 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:21 [debug] Diagnostics for board 50:
2025-04-24 14:46:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:26 ago, cause: software
2025-04-24 14:46:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:21 [debug] Moves scheduled 32832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2500964839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:46:21 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18247, writes 0 timeouts 0
2025-04-24 14:46:21 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36041/37095
2025-04-24 14:46:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:21 [info] currentZPosition:0.0513
2025-04-24 14:46:22 [debug] Stopped at height 0.050 mm
2025-04-24 14:46:23 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:23 [debug] Diagnostics for board 50:
2025-04-24 14:46:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:28 ago, cause: software
2025-04-24 14:46:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:23 [debug] Moves scheduled 32838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2499712454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:46:23 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21057, writes 0 timeouts 0
2025-04-24 14:46:23 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36071/37145
2025-04-24 14:46:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:23 [info] currentZPosition:0.0520
2025-04-24 14:46:24 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:24 [debug] Diagnostics for board 50:
2025-04-24 14:46:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:29 ago, cause: software
2025-04-24 14:46:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:24 [debug] Moves scheduled 32842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2498649695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:46:24 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17800, writes 0 timeouts 0
2025-04-24 14:46:24 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36072/37137
2025-04-24 14:46:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:24 [info] currentZPosition:0.0520
2025-04-24 14:46:26 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:26 [debug] Diagnostics for board 50:
2025-04-24 14:46:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:31 ago, cause: software
2025-04-24 14:46:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:26 [debug] Moves scheduled 32846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2497632881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:46:26 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17072, writes 0 timeouts 0
2025-04-24 14:46:26 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36098/37107
2025-04-24 14:46:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:26 [info] currentZPosition:0.0524
2025-04-24 14:46:27 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:27 [debug] Diagnostics for board 50:
2025-04-24 14:46:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:32 ago, cause: software
2025-04-24 14:46:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:27 [debug] Moves scheduled 32850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2496562005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:46:27 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17975, writes 0 timeouts 0
2025-04-24 14:46:27 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36036/37126
2025-04-24 14:46:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:27 [info] currentZPosition:0.0516
2025-04-24 14:46:28 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:28 [debug] Diagnostics for board 50:
2025-04-24 14:46:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:33 ago, cause: software
2025-04-24 14:46:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:28 [debug] Moves scheduled 32854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 69, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2495553517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:46:28 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16907, writes 0 timeouts 0
2025-04-24 14:46:28 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35995/37122
2025-04-24 14:46:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:29 [info] currentZPosition:0.0524
2025-04-24 14:46:30 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:30 [debug] Diagnostics for board 50:
2025-04-24 14:46:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:35 ago, cause: software
2025-04-24 14:46:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:30 [debug] Moves scheduled 32858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2494483150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:46:30 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17963, writes 0 timeouts 0
2025-04-24 14:46:30 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36029/37101
2025-04-24 14:46:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:30 [info] currentZPosition:0.0520
2025-04-24 14:46:31 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:31 [debug] Diagnostics for board 50:
2025-04-24 14:46:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:48:36 ago, cause: software
2025-04-24 14:46:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:31 [debug] Moves scheduled 32862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2493455824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:46:31 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17261, writes 0 timeouts 0
2025-04-24 14:46:31 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36225/37120
2025-04-24 14:46:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:31 [info] currentZPosition:0.0518
2025-04-24 14:46:33 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:33 [debug] Diagnostics for board 50:
2025-04-24 14:46:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:38 ago, cause: software
2025-04-24 14:46:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:33 [debug] Moves scheduled 32866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2492399205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:46:33 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17690, writes 0 timeouts 0
2025-04-24 14:46:33 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35994/37158
2025-04-24 14:46:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:33 [info] currentZPosition:0.0519
2025-04-24 14:46:34 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:34 [debug] Diagnostics for board 50:
2025-04-24 14:46:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:39 ago, cause: software
2025-04-24 14:46:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:34 [debug] Moves scheduled 32870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 110, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2491380460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:46:34 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17101, writes 0 timeouts 0
2025-04-24 14:46:34 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36315/37081
2025-04-24 14:46:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:34 [info] currentZPosition:0.0521
2025-04-24 14:46:35 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:35 [debug] Diagnostics for board 50:
2025-04-24 14:46:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:40 ago, cause: software
2025-04-24 14:46:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:35 [debug] Moves scheduled 32874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 114, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2490314264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:46:35 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17916, writes 0 timeouts 0
2025-04-24 14:46:35 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36035/37170
2025-04-24 14:46:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:36 [info] currentZPosition:0.0516
2025-04-24 14:46:37 [debug] Stopped at height 0.053 mm
2025-04-24 14:46:37 [debug] Diagnostics for board 50:
2025-04-24 14:46:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:42 ago, cause: software
2025-04-24 14:46:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:37 [debug] Moves scheduled 32878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 116, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2489310616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:46:37 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16818, writes 0 timeouts 0
2025-04-24 14:46:37 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36353/37141
2025-04-24 14:46:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 819
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8939, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:37 [info] currentZPosition:0.0527
2025-04-24 14:46:38 [debug] Stopped at height 0.053 mm
2025-04-24 14:46:38 [debug] Diagnostics for board 50:
2025-04-24 14:46:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:43 ago, cause: software
2025-04-24 14:46:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:38 [debug] Moves scheduled 32882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 115, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2488245560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:38 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17871, writes 0 timeouts 0
2025-04-24 14:46:38 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36060/37149
2025-04-24 14:46:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:38 [info] currentZPosition:0.0527
2025-04-24 14:46:40 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:40 [debug] Diagnostics for board 50:
2025-04-24 14:46:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:44 ago, cause: software
2025-04-24 14:46:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:40 [debug] Moves scheduled 32886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15306
Sync err accum 112, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2487207698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:40 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17416, writes 0 timeouts 0
2025-04-24 14:46:40 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36346/37125
2025-04-24 14:46:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:40 [info] currentZPosition:0.0519
2025-04-24 14:46:41 [debug] Stopped at height 0.053 mm
2025-04-24 14:46:41 [debug] Diagnostics for board 50:
2025-04-24 14:46:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:46 ago, cause: software
2025-04-24 14:46:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:41 [debug] Moves scheduled 32890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2486168463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:41 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17411, writes 0 timeouts 0
2025-04-24 14:46:41 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36029/37129
2025-04-24 14:46:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8926, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:41 [info] currentZPosition:0.0529
2025-04-24 14:46:42 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:42 [debug] Diagnostics for board 50:
2025-04-24 14:46:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:47 ago, cause: software
2025-04-24 14:46:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:42 [debug] Moves scheduled 32894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2485130165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:46:42 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17414, writes 0 timeouts 0
2025-04-24 14:46:42 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36299/37141
2025-04-24 14:46:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:42 [info] currentZPosition:0.0521
2025-04-24 14:46:44 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:44 [debug] Diagnostics for board 50:
2025-04-24 14:46:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:49 ago, cause: software
2025-04-24 14:46:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:44 [debug] Moves scheduled 32898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 91, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2484060502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:44 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17967, writes 0 timeouts 0
2025-04-24 14:46:44 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36021/37165
2025-04-24 14:46:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:44 [info] currentZPosition:0.0514
2025-04-24 14:46:45 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:45 [debug] Diagnostics for board 50:
2025-04-24 14:46:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:50 ago, cause: software
2025-04-24 14:46:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:45 [debug] Moves scheduled 32902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 78, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2483026662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:45 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17323, writes 0 timeouts 0
2025-04-24 14:46:45 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36302/37097
2025-04-24 14:46:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:45 [info] currentZPosition:0.0508
2025-04-24 14:46:47 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:47 [debug] Diagnostics for board 50:
2025-04-24 14:46:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:48:51 ago, cause: software
2025-04-24 14:46:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:47 [debug] Moves scheduled 32906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -3/-2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2481980081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:46:47 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17573, writes 0 timeouts 0
2025-04-24 14:46:47 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36014/37114
2025-04-24 14:46:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:47 [info] currentZPosition:0.0514
2025-04-24 14:46:48 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:48 [debug] Diagnostics for board 50:
2025-04-24 14:46:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:53 ago, cause: software
2025-04-24 14:46:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:48 [debug] Moves scheduled 32910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 71, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2480966386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:46:48 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17031, writes 0 timeouts 0
2025-04-24 14:46:48 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36338/37123
2025-04-24 14:46:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:48 [info] currentZPosition:0.0518
2025-04-24 14:46:49 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:49 [debug] Diagnostics for board 50:
2025-04-24 14:46:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:48:54 ago, cause: software
2025-04-24 14:46:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:49 [debug] Moves scheduled 32914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2479902253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:46:49 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17835, writes 0 timeouts 0
2025-04-24 14:46:49 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36074/37141
2025-04-24 14:46:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:49 [info] currentZPosition:0.0516
2025-04-24 14:46:51 [debug] Stopped at height 0.051 mm
2025-04-24 14:46:51 [debug] Diagnostics for board 50:
2025-04-24 14:46:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:56 ago, cause: software
2025-04-24 14:46:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:51 [debug] Moves scheduled 32918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 98, peak jitter 1/3, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2478870682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:46:51 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17296, writes 0 timeouts 0
2025-04-24 14:46:51 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36343/37121
2025-04-24 14:46:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:51 [info] currentZPosition:0.0512
2025-04-24 14:46:52 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:52 [debug] Diagnostics for board 50:
2025-04-24 14:46:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:48:57 ago, cause: software
2025-04-24 14:46:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:52 [debug] Moves scheduled 32922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 109, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2477834586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:46:52 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17411, writes 0 timeouts 0
2025-04-24 14:46:52 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36054/37159
2025-04-24 14:46:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:52 [info] currentZPosition:0.0521
2025-04-24 14:46:53 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:53 [debug] Diagnostics for board 50:
2025-04-24 14:46:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:48:58 ago, cause: software
2025-04-24 14:46:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:53 [debug] Moves scheduled 32926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 115, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2476813878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:46:53 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17103, writes 0 timeouts 0
2025-04-24 14:46:53 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36321/37157
2025-04-24 14:46:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:54 [info] currentZPosition:0.0523
2025-04-24 14:46:55 [debug] Stopped at height 0.053 mm
2025-04-24 14:46:55 [debug] Diagnostics for board 50:
2025-04-24 14:46:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:00 ago, cause: software
2025-04-24 14:46:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:55 [debug] Moves scheduled 32930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 119, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2475759746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:46:55 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17706, writes 0 timeouts 0
2025-04-24 14:46:55 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36045/37164
2025-04-24 14:46:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:55 [info] currentZPosition:0.0527
2025-04-24 14:46:56 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:56 [debug] Diagnostics for board 50:
2025-04-24 14:46:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:49:01 ago, cause: software
2025-04-24 14:46:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:56 [debug] Moves scheduled 32934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9036, max=15000
Sync err accum 121, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2474729827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:46:56 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17293, writes 0 timeouts 0
2025-04-24 14:46:56 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36384/37106
2025-04-24 14:46:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:56 [info] currentZPosition:0.0523
2025-04-24 14:46:58 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:58 [debug] Diagnostics for board 50:
2025-04-24 14:46:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:03 ago, cause: software
2025-04-24 14:46:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:58 [debug] Moves scheduled 32938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 121, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2473674771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:46:58 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17671, writes 0 timeouts 0
2025-04-24 14:46:58 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36092/37169
2025-04-24 14:46:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:58 [info] currentZPosition:0.0524
2025-04-24 14:46:59 [debug] Stopped at height 0.052 mm
2025-04-24 14:46:59 [debug] Diagnostics for board 50:
2025-04-24 14:46:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:46:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:04 ago, cause: software
2025-04-24 14:46:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:46:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:46:59 [debug] Moves scheduled 32942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 116, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2472651394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:46:59 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17175, writes 0 timeouts 0
2025-04-24 14:46:59 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36351/37097
2025-04-24 14:46:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:46:59 [info] currentZPosition:0.0525
2025-04-24 14:47:00 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:00 [debug] Diagnostics for board 50:
2025-04-24 14:47:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:05 ago, cause: software
2025-04-24 14:47:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:00 [debug] Moves scheduled 32946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 110, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2471598143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:47:00 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17687, writes 0 timeouts 0
2025-04-24 14:47:00 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36046/37112
2025-04-24 14:47:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:01 [info] currentZPosition:0.0527
2025-04-24 14:47:02 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:02 [debug] Diagnostics for board 50:
2025-04-24 14:47:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:07 ago, cause: software
2025-04-24 14:47:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:02 [debug] Moves scheduled 32950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 101, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2470578080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, ma
2025-04-24 14:47:02 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17106, writes 0 timeouts 0
2025-04-24 14:47:02 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36313/37080
2025-04-24 14:47:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:02 [info] currentZPosition:0.0530
2025-04-24 14:47:03 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:03 [debug] Diagnostics for board 50:
2025-04-24 14:47:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:08 ago, cause: software
2025-04-24 14:47:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:03 [debug] Moves scheduled 32954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2469500814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:47:03 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18062, writes 0 timeouts 0
2025-04-24 14:47:03 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37124
2025-04-24 14:47:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:03 [info] currentZPosition:0.0521
2025-04-24 14:47:05 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:05 [debug] Diagnostics for board 50:
2025-04-24 14:47:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:09 ago, cause: software
2025-04-24 14:47:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:05 [debug] Moves scheduled 32958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2468484114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:47:05 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17063, writes 0 timeouts 0
2025-04-24 14:47:05 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36379/37137
2025-04-24 14:47:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:05 [info] currentZPosition:0.0526
2025-04-24 14:47:06 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:06 [debug] Diagnostics for board 50:
2025-04-24 14:47:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:11 ago, cause: software
2025-04-24 14:47:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:06 [debug] Moves scheduled 32962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15306
Sync err accum 63, peak jitter -4/-2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2467414984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:47:06 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17933, writes 0 timeouts 0
2025-04-24 14:47:06 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36070/37169
2025-04-24 14:47:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:06 [info] currentZPosition:0.0520
2025-04-24 14:47:07 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:07 [debug] Diagnostics for board 50:
2025-04-24 14:47:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:12 ago, cause: software
2025-04-24 14:47:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:07 [debug] Moves scheduled 32966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2466386943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:47:07 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17257, writes 0 timeouts 0
2025-04-24 14:47:07 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36392/37114
2025-04-24 14:47:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:07 [info] currentZPosition:0.0521
2025-04-24 14:47:09 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:09 [debug] Diagnostics for board 50:
2025-04-24 14:47:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:14 ago, cause: software
2025-04-24 14:47:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:09 [debug] Moves scheduled 32970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2465326951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:47:09 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17786, writes 0 timeouts 0
2025-04-24 14:47:09 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36056/37116
2025-04-24 14:47:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:09 [info] currentZPosition:0.0519
2025-04-24 14:47:10 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:10 [debug] Diagnostics for board 50:
2025-04-24 14:47:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:15 ago, cause: software
2025-04-24 14:47:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:10 [debug] Moves scheduled 32974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2464315835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:47:10 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16969, writes 0 timeouts 0
2025-04-24 14:47:10 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36337/37111
2025-04-24 14:47:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:10 [info] currentZPosition:0.0527
2025-04-24 14:47:12 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:12 [debug] Diagnostics for board 50:
2025-04-24 14:47:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:16 ago, cause: software
2025-04-24 14:47:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:12 [debug] Moves scheduled 32978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2463250458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:47:12 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17880, writes 0 timeouts 0
2025-04-24 14:47:12 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36042/37153
2025-04-24 14:47:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:12 [info] currentZPosition:0.0522
2025-04-24 14:47:13 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:13 [debug] Diagnostics for board 50:
2025-04-24 14:47:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:18 ago, cause: software
2025-04-24 14:47:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:13 [debug] Moves scheduled 32982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2462237358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:47:13 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17004, writes 0 timeouts 0
2025-04-24 14:47:13 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36385/37104
2025-04-24 14:47:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:13 [info] currentZPosition:0.0528
2025-04-24 14:47:14 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:14 [debug] Diagnostics for board 50:
2025-04-24 14:47:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:19 ago, cause: software
2025-04-24 14:47:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:14 [debug] Moves scheduled 32986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 74, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2461176565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:47:14 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17805, writes 0 timeouts 0
2025-04-24 14:47:14 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36055/37157
2025-04-24 14:47:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:14 [info] currentZPosition:0.0526
2025-04-24 14:47:16 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:16 [debug] Diagnostics for board 50:
2025-04-24 14:47:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:21 ago, cause: software
2025-04-24 14:47:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:16 [debug] Moves scheduled 32990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2460141918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:47:16 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17348, writes 0 timeouts 0
2025-04-24 14:47:16 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36269/37107
2025-04-24 14:47:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:16 [info] currentZPosition:0.0523
2025-04-24 14:47:17 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:17 [debug] Diagnostics for board 50:
2025-04-24 14:47:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:22 ago, cause: software
2025-04-24 14:47:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:17 [debug] Moves scheduled 32994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2459087973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:47:17 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17692, writes 0 timeouts 0
2025-04-24 14:47:17 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35993/37154
2025-04-24 14:47:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:17 [info] currentZPosition:0.0525
2025-04-24 14:47:18 [debug] Stopped at height 0.051 mm
2025-04-24 14:47:18 [debug] Diagnostics for board 50:
2025-04-24 14:47:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:23 ago, cause: software
2025-04-24 14:47:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:18 [debug] Moves scheduled 32998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2458044356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:47:18 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17507, writes 0 timeouts 0
2025-04-24 14:47:18 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36327/37133
2025-04-24 14:47:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:19 [info] currentZPosition:0.0515
2025-04-24 14:47:20 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:20 [debug] Diagnostics for board 50:
2025-04-24 14:47:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:25 ago, cause: software
2025-04-24 14:47:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:20 [debug] Moves scheduled 33002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2456999924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:47:20 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17529, writes 0 timeouts 0
2025-04-24 14:47:20 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36051/37118
2025-04-24 14:47:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:20 [info] currentZPosition:0.0522
2025-04-24 14:47:21 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:21 [debug] Diagnostics for board 50:
2025-04-24 14:47:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:26 ago, cause: software
2025-04-24 14:47:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:21 [debug] Moves scheduled 33006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2455991250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:47:21 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16931, writes 0 timeouts 0
2025-04-24 14:47:21 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36390/37119
2025-04-24 14:47:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8928, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:21 [info] currentZPosition:0.0530
2025-04-24 14:47:23 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:23 [debug] Diagnostics for board 50:
2025-04-24 14:47:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:28 ago, cause: software
2025-04-24 14:47:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:23 [debug] Moves scheduled 33010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2454934274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:47:23 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17731, writes 0 timeouts 0
2025-04-24 14:47:23 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36052/37131
2025-04-24 14:47:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8927, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:23 [info] currentZPosition:0.0529
2025-04-24 14:47:24 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:24 [debug] Diagnostics for board 50:
2025-04-24 14:47:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:29 ago, cause: software
2025-04-24 14:47:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:24 [debug] Moves scheduled 33014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2453905060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:47:24 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17274, writes 0 timeouts 0
2025-04-24 14:47:24 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36252/37081
2025-04-24 14:47:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:24 [info] currentZPosition:0.0525
2025-04-24 14:47:25 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:25 [debug] Diagnostics for board 50:
2025-04-24 14:47:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:49:30 ago, cause: software
2025-04-24 14:47:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:25 [debug] Moves scheduled 33018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2452851874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:47:25 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17673, writes 0 timeouts 0
2025-04-24 14:47:25 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36001/37103
2025-04-24 14:47:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:26 [info] currentZPosition:0.0527
2025-04-24 14:47:27 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:27 [debug] Diagnostics for board 50:
2025-04-24 14:47:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:32 ago, cause: software
2025-04-24 14:47:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:27 [debug] Moves scheduled 33022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2451810301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:47:27 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17479, writes 0 timeouts 0
2025-04-24 14:47:27 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36139/37125
2025-04-24 14:47:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:27 [info] currentZPosition:0.0517
2025-04-24 14:47:28 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:28 [debug] Diagnostics for board 50:
2025-04-24 14:47:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:33 ago, cause: software
2025-04-24 14:47:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:28 [debug] Moves scheduled 33026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2450783498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:47:28 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17239, writes 0 timeouts 0
2025-04-24 14:47:28 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36007/37079
2025-04-24 14:47:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:28 [info] currentZPosition:0.0533
2025-04-24 14:47:29 [debug] Stopped at height 0.051 mm
2025-04-24 14:47:30 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:30 [debug] Diagnostics for board 50:
2025-04-24 14:47:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:35 ago, cause: software
2025-04-24 14:47:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:30 [debug] Moves scheduled 33032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2449505831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:47:30 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21435, writes 0 timeouts 0
2025-04-24 14:47:30 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36070/37131
2025-04-24 14:47:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:30 [info] currentZPosition:0.0521
2025-04-24 14:47:31 [debug] Stopped at height 0.054 mm
2025-04-24 14:47:31 [debug] Diagnostics for board 50:
2025-04-24 14:47:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:36 ago, cause: software
2025-04-24 14:47:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:31 [debug] Moves scheduled 33036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2448476946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:47:31 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17271, writes 0 timeouts 0
2025-04-24 14:47:31 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36098/37132
2025-04-24 14:47:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8914, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:31 [info] currentZPosition:0.0537
2025-04-24 14:47:32 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:33 [debug] Stopped at height 0.054 mm
2025-04-24 14:47:33 [debug] Diagnostics for board 50:
2025-04-24 14:47:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:38 ago, cause: software
2025-04-24 14:47:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:33 [debug] Moves scheduled 33042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2447231855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:47:33 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20888, writes 0 timeouts 0
2025-04-24 14:47:33 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36084/37172
2025-04-24 14:47:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8878, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:33 [info] currentZPosition:0.0543
2025-04-24 14:47:33 [debug] Stopped at height 0.052 mm
2025-04-24 14:47:35 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:35 [debug] Diagnostics for board 50:
2025-04-24 14:47:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:40 ago, cause: software
2025-04-24 14:47:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:35 [debug] Moves scheduled 33048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 61, peak jitter -3/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2445926092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:47:35 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21930, writes 0 timeouts 0
2025-04-24 14:47:35 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36006/37103
2025-04-24 14:47:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:35 [info] currentZPosition:0.0535
2025-04-24 14:47:36 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:36 [debug] Diagnostics for board 50:
2025-04-24 14:47:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:41 ago, cause: software
2025-04-24 14:47:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:36 [debug] Moves scheduled 33052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2444900395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:47:36 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17187, writes 0 timeouts 0
2025-04-24 14:47:36 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36072/37141
2025-04-24 14:47:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:36 [info] currentZPosition:0.0534
2025-04-24 14:47:37 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:37 [debug] Diagnostics for board 50:
2025-04-24 14:47:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:49:42 ago, cause: software
2025-04-24 14:47:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:37 [debug] Moves scheduled 33056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 89, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2443837936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:47:37 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17831, writes 0 timeouts 0
2025-04-24 14:47:37 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35989/37103
2025-04-24 14:47:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:38 [info] currentZPosition:0.0532
2025-04-24 14:47:39 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:39 [debug] Diagnostics for board 50:
2025-04-24 14:47:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:44 ago, cause: software
2025-04-24 14:47:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:39 [debug] Moves scheduled 33060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 102, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2442815729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:47:39 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17148, writes 0 timeouts 0
2025-04-24 14:47:39 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36160/37135
2025-04-24 14:47:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:39 [info] currentZPosition:0.0533
2025-04-24 14:47:40 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:40 [debug] Diagnostics for board 50:
2025-04-24 14:47:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:45 ago, cause: software
2025-04-24 14:47:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:40 [debug] Moves scheduled 33064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 111, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2441761781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:47:40 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17675, writes 0 timeouts 0
2025-04-24 14:47:40 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36012/37137
2025-04-24 14:47:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:40 [info] currentZPosition:0.0534
2025-04-24 14:47:42 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:42 [debug] Diagnostics for board 50:
2025-04-24 14:47:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:46 ago, cause: software
2025-04-24 14:47:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:42 [debug] Moves scheduled 33068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 118, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2440728498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU te
2025-04-24 14:47:42 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17325, writes 0 timeouts 0
2025-04-24 14:47:42 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36096/37091
2025-04-24 14:47:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:42 [info] currentZPosition:0.0528
2025-04-24 14:47:43 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:43 [debug] Diagnostics for board 50:
2025-04-24 14:47:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:48 ago, cause: software
2025-04-24 14:47:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:43 [debug] Moves scheduled 33072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 121, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2439685360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:47:43 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17535, writes 0 timeouts 0
2025-04-24 14:47:43 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36010/37163
2025-04-24 14:47:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:43 [info] currentZPosition:0.0535
2025-04-24 14:47:44 [debug] Stopped at height 0.054 mm
2025-04-24 14:47:44 [debug] Diagnostics for board 50:
2025-04-24 14:47:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:49 ago, cause: software
2025-04-24 14:47:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:44 [debug] Moves scheduled 33076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 122, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2438666377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max
2025-04-24 14:47:44 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17072, writes 0 timeouts 0
2025-04-24 14:47:44 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36060/37150
2025-04-24 14:47:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:44 [info] currentZPosition:0.0537
2025-04-24 14:47:46 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:46 [debug] Diagnostics for board 50:
2025-04-24 14:47:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:51 ago, cause: software
2025-04-24 14:47:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:46 [debug] Moves scheduled 33080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10273, max=15306
Sync err accum 120, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2436959433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, ma
2025-04-24 14:47:46 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 30096, writes 0 timeouts 0
2025-04-24 14:47:46 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 63, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36036/37126
2025-04-24 14:47:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:47 [info] currentZPosition:0.0527
2025-04-24 14:47:49 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:49 [debug] Diagnostics for board 50:
2025-04-24 14:47:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:49:54 ago, cause: software
2025-04-24 14:47:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:49 [debug] Moves scheduled 33084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 114, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2435440398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:47:49 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24071, writes 0 timeouts 0
2025-04-24 14:47:49 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36064/37117
2025-04-24 14:47:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:49 [info] currentZPosition:0.0533
2025-04-24 14:47:50 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:50 [debug] Diagnostics for board 50:
2025-04-24 14:47:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:49:55 ago, cause: software
2025-04-24 14:47:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:50 [debug] Moves scheduled 33088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 105, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2434382446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:47:50 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17761, writes 0 timeouts 0
2025-04-24 14:47:50 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35991/37164
2025-04-24 14:47:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:50 [info] currentZPosition:0.0531
2025-04-24 14:47:51 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:51 [debug] Diagnostics for board 50:
2025-04-24 14:47:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:56 ago, cause: software
2025-04-24 14:47:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:51 [debug] Moves scheduled 33092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2433361209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:47:51 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17128, writes 0 timeouts 0
2025-04-24 14:47:51 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36107/37123
2025-04-24 14:47:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:51 [info] currentZPosition:0.0532
2025-04-24 14:47:53 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:53 [debug] Diagnostics for board 50:
2025-04-24 14:47:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:58 ago, cause: software
2025-04-24 14:47:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:53 [debug] Moves scheduled 33096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2432306255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:47:53 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17694, writes 0 timeouts 0
2025-04-24 14:47:53 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36000/37156
2025-04-24 14:47:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:53 [info] currentZPosition:0.0534
2025-04-24 14:47:54 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:54 [debug] Diagnostics for board 50:
2025-04-24 14:47:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:49:59 ago, cause: software
2025-04-24 14:47:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:54 [debug] Moves scheduled 33100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -2/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2431278064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:47:54 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17233, writes 0 timeouts 0
2025-04-24 14:47:54 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36051/37132
2025-04-24 14:47:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:54 [info] currentZPosition:0.0529
2025-04-24 14:47:56 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:56 [debug] Diagnostics for board 50:
2025-04-24 14:47:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:00 ago, cause: software
2025-04-24 14:47:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:56 [debug] Moves scheduled 33104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2430223936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:47:56 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17695, writes 0 timeouts 0
2025-04-24 14:47:56 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35996/37095
2025-04-24 14:47:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:56 [info] currentZPosition:0.0530
2025-04-24 14:47:57 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:57 [debug] Diagnostics for board 50:
2025-04-24 14:47:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:02 ago, cause: software
2025-04-24 14:47:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:57 [debug] Moves scheduled 33108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 82, peak jitter 2/4, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2429203592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:47:57 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17113, writes 0 timeouts 0
2025-04-24 14:47:57 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36051/37116
2025-04-24 14:47:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4586, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:57 [info] currentZPosition:0.0532
2025-04-24 14:47:58 [debug] Stopped at height 0.053 mm
2025-04-24 14:47:58 [debug] Diagnostics for board 50:
2025-04-24 14:47:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:47:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:03 ago, cause: software
2025-04-24 14:47:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:47:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:47:58 [debug] Moves scheduled 33112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2428142590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:47:58 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17830, writes 0 timeouts 0
2025-04-24 14:47:58 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36020/37101
2025-04-24 14:47:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:47:58 [info] currentZPosition:0.0530
2025-04-24 14:48:00 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:00 [debug] Diagnostics for board 50:
2025-04-24 14:48:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:05 ago, cause: software
2025-04-24 14:48:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:00 [debug] Moves scheduled 33116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2427122675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:48:00 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17098, writes 0 timeouts 0
2025-04-24 14:48:00 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36101/37089
2025-04-24 14:48:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:00 [info] currentZPosition:0.0532
2025-04-24 14:48:01 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:01 [debug] Diagnostics for board 50:
2025-04-24 14:48:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:06 ago, cause: software
2025-04-24 14:48:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:01 [debug] Moves scheduled 33120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 110, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2426057981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:48:01 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17857, writes 0 timeouts 0
2025-04-24 14:48:01 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36074/37094
2025-04-24 14:48:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:01 [info] currentZPosition:0.0528
2025-04-24 14:48:02 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:02 [debug] Diagnostics for board 50:
2025-04-24 14:48:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:07 ago, cause: software
2025-04-24 14:48:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:02 [debug] Moves scheduled 33124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 115, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2425037896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:48:02 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17145, writes 0 timeouts 0
2025-04-24 14:48:02 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 434, adv 36013/37107
2025-04-24 14:48:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:03 [info] currentZPosition:0.0529
2025-04-24 14:48:04 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:04 [debug] Diagnostics for board 50:
2025-04-24 14:48:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:50:09 ago, cause: software
2025-04-24 14:48:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:04 [debug] Moves scheduled 33128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 115, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2423982827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:48:04 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17675, writes 0 timeouts 0
2025-04-24 14:48:04 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36088/37126
2025-04-24 14:48:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:04 [info] currentZPosition:0.0532
2025-04-24 14:48:05 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:05 [debug] Diagnostics for board 50:
2025-04-24 14:48:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:10 ago, cause: software
2025-04-24 14:48:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:05 [debug] Moves scheduled 33132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 112, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2422962812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:48:05 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17109, writes 0 timeouts 0
2025-04-24 14:48:05 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36064/37134
2025-04-24 14:48:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:05 [info] currentZPosition:0.0532
2025-04-24 14:48:07 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:07 [debug] Diagnostics for board 50:
2025-04-24 14:48:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:12 ago, cause: software
2025-04-24 14:48:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:07 [debug] Moves scheduled 33136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2421906650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:48:07 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17740, writes 0 timeouts 0
2025-04-24 14:48:07 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36100/37098
2025-04-24 14:48:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:07 [info] currentZPosition:0.0532
2025-04-24 14:48:08 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:08 [debug] Diagnostics for board 50:
2025-04-24 14:48:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:13 ago, cause: software
2025-04-24 14:48:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:08 [debug] Moves scheduled 33140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2420881902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:48:08 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17182, writes 0 timeouts 0
2025-04-24 14:48:08 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36112/37113
2025-04-24 14:48:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:08 [info] currentZPosition:0.0530
2025-04-24 14:48:09 [debug] Stopped at height 0.055 mm
2025-04-24 14:48:09 [debug] Diagnostics for board 50:
2025-04-24 14:48:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:50:14 ago, cause: software
2025-04-24 14:48:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:09 [debug] Moves scheduled 33144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2419863897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 
2025-04-24 14:48:09 [debug] Driver 0: pos -3480, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17094, writes 0 timeouts 0
2025-04-24 14:48:09 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36063/37112
2025-04-24 14:48:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8877, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:09 [info] currentZPosition:0.0550
2025-04-24 14:48:10 [debug] Stopped at height 0.052 mm
2025-04-24 14:48:11 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:11 [debug] Diagnostics for board 50:
2025-04-24 14:48:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:16 ago, cause: software
2025-04-24 14:48:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:11 [debug] Moves scheduled 33150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 83, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2418583716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:48:11 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21499, writes 0 timeouts 0
2025-04-24 14:48:11 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36068/37089
2025-04-24 14:48:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:11 [info] currentZPosition:0.0537
2025-04-24 14:48:12 [debug] Stopped at height 0.052 mm
2025-04-24 14:48:13 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:13 [debug] Diagnostics for board 50:
2025-04-24 14:48:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:50:18 ago, cause: software
2025-04-24 14:48:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:13 [debug] Moves scheduled 33156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2417279731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:48:13 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21859, writes 0 timeouts 0
2025-04-24 14:48:13 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36082/37126
2025-04-24 14:48:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:13 [info] currentZPosition:0.0531
2025-04-24 14:48:13 [debug] Stopped at height 0.052 mm
2025-04-24 14:48:14 [debug] Stopped at height 0.055 mm
2025-04-24 14:48:14 [debug] Diagnostics for board 50:
2025-04-24 14:48:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:19 ago, cause: software
2025-04-24 14:48:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:14 [debug] Moves scheduled 33162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 69, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2416059966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:48:14 [debug] Driver 0: pos -3479, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20475, writes 0 timeouts 0
2025-04-24 14:48:14 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36064/37169
2025-04-24 14:48:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8916, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:15 [info] currentZPosition:0.0551
2025-04-24 14:48:15 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:16 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:16 [debug] Diagnostics for board 50:
2025-04-24 14:48:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:21 ago, cause: software
2025-04-24 14:48:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:16 [debug] Moves scheduled 33168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2414735549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.0C, max 3
2025-04-24 14:48:16 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22263, writes 0 timeouts 0
2025-04-24 14:48:16 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36047/37160
2025-04-24 14:48:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:16 [info] currentZPosition:0.0530
2025-04-24 14:48:18 [debug] Stopped at height 0.052 mm
2025-04-24 14:48:18 [debug] Diagnostics for board 50:
2025-04-24 14:48:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:22 ago, cause: software
2025-04-24 14:48:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:18 [debug] Moves scheduled 33172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2413697393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:48:18 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17385, writes 0 timeouts 0
2025-04-24 14:48:18 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36110/37113
2025-04-24 14:48:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:18 [info] currentZPosition:0.0522
2025-04-24 14:48:19 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:19 [debug] Diagnostics for board 50:
2025-04-24 14:48:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:24 ago, cause: software
2025-04-24 14:48:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:19 [debug] Moves scheduled 33176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2412673100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:48:19 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17185, writes 0 timeouts 0
2025-04-24 14:48:19 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36063/37117
2025-04-24 14:48:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:19 [info] currentZPosition:0.0540
2025-04-24 14:48:19 [debug] Stopped at height 0.052 mm
2025-04-24 14:48:21 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:21 [debug] Diagnostics for board 50:
2025-04-24 14:48:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:26 ago, cause: software
2025-04-24 14:48:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:21 [debug] Moves scheduled 33182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 112, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2411399077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:48:21 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21380, writes 0 timeouts 0
2025-04-24 14:48:21 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36211/37140
2025-04-24 14:48:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:21 [info] currentZPosition:0.0531
2025-04-24 14:48:22 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:22 [debug] Diagnostics for board 50:
2025-04-24 14:48:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:27 ago, cause: software
2025-04-24 14:48:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:22 [debug] Moves scheduled 33186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 116, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2410355840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:48:22 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17517, writes 0 timeouts 0
2025-04-24 14:48:22 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36034/37084
2025-04-24 14:48:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:22 [info] currentZPosition:0.0538
2025-04-24 14:48:23 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:23 [debug] Diagnostics for board 50:
2025-04-24 14:48:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:28 ago, cause: software
2025-04-24 14:48:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:23 [debug] Moves scheduled 33190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 118, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2409332519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:48:23 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17165, writes 0 timeouts 0
2025-04-24 14:48:23 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36328/37081
2025-04-24 14:48:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:24 [info] currentZPosition:0.0538
2025-04-24 14:48:25 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:25 [debug] Diagnostics for board 50:
2025-04-24 14:48:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:30 ago, cause: software
2025-04-24 14:48:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:25 [debug] Moves scheduled 33194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 118, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2408272502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:48:25 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17781, writes 0 timeouts 0
2025-04-24 14:48:25 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36044/37095
2025-04-24 14:48:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:25 [info] currentZPosition:0.0534
2025-04-24 14:48:26 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:26 [debug] Diagnostics for board 50:
2025-04-24 14:48:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:31 ago, cause: software
2025-04-24 14:48:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:26 [debug] Moves scheduled 33198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=44, frequency (Hz): min=9493, max=15000
Sync err accum 116, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2407263287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-24 14:48:26 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16944, writes 0 timeouts 0
2025-04-24 14:48:26 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36306/37121
2025-04-24 14:48:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:26 [info] currentZPosition:0.0543
2025-04-24 14:48:28 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:28 [debug] Diagnostics for board 50:
2025-04-24 14:48:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:32 ago, cause: software
2025-04-24 14:48:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:28 [debug] Moves scheduled 33202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9493, max=15000
Sync err accum 109, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2406202019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:48:28 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17804, writes 0 timeouts 0
2025-04-24 14:48:28 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36032/37108
2025-04-24 14:48:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:28 [info] currentZPosition:0.0541
2025-04-24 14:48:29 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:29 [debug] Diagnostics for board 50:
2025-04-24 14:48:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:34 ago, cause: software
2025-04-24 14:48:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:29 [debug] Moves scheduled 33206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 101, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2405161982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 14:48:29 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17447, writes 0 timeouts 0
2025-04-24 14:48:29 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36336/37137
2025-04-24 14:48:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:29 [info] currentZPosition:0.0536
2025-04-24 14:48:30 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:30 [debug] Diagnostics for board 50:
2025-04-24 14:48:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:35 ago, cause: software
2025-04-24 14:48:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:30 [debug] Moves scheduled 33210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2404109493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:48:30 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17669, writes 0 timeouts 0
2025-04-24 14:48:30 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36005/37148
2025-04-24 14:48:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:31 [info] currentZPosition:0.0538
2025-04-24 14:48:32 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:32 [debug] Diagnostics for board 50:
2025-04-24 14:48:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:37 ago, cause: software
2025-04-24 14:48:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:32 [debug] Moves scheduled 33214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2403062135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 14:48:32 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17562, writes 0 timeouts 0
2025-04-24 14:48:32 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36350/37130
2025-04-24 14:48:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:32 [info] currentZPosition:0.0527
2025-04-24 14:48:33 [debug] Stopped at height 0.055 mm
2025-04-24 14:48:33 [debug] Diagnostics for board 50:
2025-04-24 14:48:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:38 ago, cause: software
2025-04-24 14:48:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:33 [debug] Moves scheduled 33218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2402040403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:48:33 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17155, writes 0 timeouts 0
2025-04-24 14:48:33 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36032/37101
2025-04-24 14:48:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 820
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:33 [info] currentZPosition:0.0547
2025-04-24 14:48:34 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:35 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:35 [debug] Diagnostics for board 50:
2025-04-24 14:48:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:40 ago, cause: software
2025-04-24 14:48:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:35 [debug] Moves scheduled 33224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2400758728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:48:35 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21508, writes 0 timeouts 0
2025-04-24 14:48:35 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36325/37138
2025-04-24 14:48:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:35 [info] currentZPosition:0.0533
2025-04-24 14:48:36 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:36 [debug] Diagnostics for board 50:
2025-04-24 14:48:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:50:41 ago, cause: software
2025-04-24 14:48:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:36 [debug] Moves scheduled 33228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2399720273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:48:36 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17434, writes 0 timeouts 0
2025-04-24 14:48:36 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36006/37104
2025-04-24 14:48:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:36 [info] currentZPosition:0.0544
2025-04-24 14:48:38 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:38 [debug] Diagnostics for board 50:
2025-04-24 14:48:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:50:43 ago, cause: software
2025-04-24 14:48:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:38 [debug] Moves scheduled 33232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 228, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2398695006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:48:38 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17203, writes 0 timeouts 0
2025-04-24 14:48:38 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36330/37109
2025-04-24 14:48:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:38 [info] currentZPosition:0.0544
2025-04-24 14:48:39 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:39 [debug] Diagnostics for board 50:
2025-04-24 14:48:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:44 ago, cause: software
2025-04-24 14:48:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:39 [debug] Moves scheduled 33236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2397637046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:48:39 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17735, writes 0 timeouts 0
2025-04-24 14:48:39 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36046/37130
2025-04-24 14:48:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:39 [info] currentZPosition:0.0543
2025-04-24 14:48:40 [debug] Stopped at height 0.055 mm
2025-04-24 14:48:40 [debug] Diagnostics for board 50:
2025-04-24 14:48:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:45 ago, cause: software
2025-04-24 14:48:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:40 [debug] Moves scheduled 33240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2396627441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:48:40 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16946, writes 0 timeouts 0
2025-04-24 14:48:40 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36325/37074
2025-04-24 14:48:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:40 [info] currentZPosition:0.0551
2025-04-24 14:48:42 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:42 [debug] Diagnostics for board 50:
2025-04-24 14:48:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:47 ago, cause: software
2025-04-24 14:48:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:42 [debug] Moves scheduled 33244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2395559463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:48:42 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17921, writes 0 timeouts 0
2025-04-24 14:48:42 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36055/37141
2025-04-24 14:48:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:42 [info] currentZPosition:0.0544
2025-04-24 14:48:43 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:43 [debug] Diagnostics for board 50:
2025-04-24 14:48:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:50:48 ago, cause: software
2025-04-24 14:48:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:43 [debug] Moves scheduled 33248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 115, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2394534235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:48:43 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17213, writes 0 timeouts 0
2025-04-24 14:48:43 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36349/37125
2025-04-24 14:48:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:43 [info] currentZPosition:0.0545
2025-04-24 14:48:45 [debug] Stopped at height 0.055 mm
2025-04-24 14:48:45 [debug] Diagnostics for board 50:
2025-04-24 14:48:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:49 ago, cause: software
2025-04-24 14:48:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:45 [debug] Moves scheduled 33252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 114, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2393476981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:48:45 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17749, writes 0 timeouts 0
2025-04-24 14:48:45 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36021/37135
2025-04-24 14:48:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:45 [info] currentZPosition:0.0547
2025-04-24 14:48:46 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:46 [debug] Diagnostics for board 50:
2025-04-24 14:48:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:51 ago, cause: software
2025-04-24 14:48:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:46 [debug] Moves scheduled 33256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 112, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2392442167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:48:46 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17356, writes 0 timeouts 0
2025-04-24 14:48:46 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36345/37093
2025-04-24 14:48:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:46 [info] currentZPosition:0.0543
2025-04-24 14:48:47 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:47 [debug] Diagnostics for board 50:
2025-04-24 14:48:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:50:52 ago, cause: software
2025-04-24 14:48:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:47 [debug] Moves scheduled 33260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 104, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2391372890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:48:47 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17932, writes 0 timeouts 0
2025-04-24 14:48:47 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36055/37155
2025-04-24 14:48:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:47 [info] currentZPosition:0.0535
2025-04-24 14:48:49 [debug] Stopped at height 0.055 mm
2025-04-24 14:48:49 [debug] Diagnostics for board 50:
2025-04-24 14:48:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:54 ago, cause: software
2025-04-24 14:48:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:49 [debug] Moves scheduled 33264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2390370987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:48:49 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16823, writes 0 timeouts 0
2025-04-24 14:48:49 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36327/37138
2025-04-24 14:48:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:49 [info] currentZPosition:0.0548
2025-04-24 14:48:49 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:50 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:50 [debug] Diagnostics for board 50:
2025-04-24 14:48:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:50:55 ago, cause: software
2025-04-24 14:48:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:50 [debug] Moves scheduled 33270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 83, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2389064909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:48:50 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21902, writes 0 timeouts 0
2025-04-24 14:48:50 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36014/37123
2025-04-24 14:48:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:51 [info] currentZPosition:0.0539
2025-04-24 14:48:51 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:52 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:52 [debug] Diagnostics for board 50:
2025-04-24 14:48:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:57 ago, cause: software
2025-04-24 14:48:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:52 [debug] Moves scheduled 33276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2387821600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:48:52 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20858, writes 0 timeouts 0
2025-04-24 14:48:52 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36352/37128
2025-04-24 14:48:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8946, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:52 [info] currentZPosition:0.0545
2025-04-24 14:48:53 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:54 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:54 [debug] Diagnostics for board 50:
2025-04-24 14:48:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:50:59 ago, cause: software
2025-04-24 14:48:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:54 [debug] Moves scheduled 33282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -3/4, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2386527776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:48:54 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21785, writes 0 timeouts 0
2025-04-24 14:48:54 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36017/37172
2025-04-24 14:48:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:54 [info] currentZPosition:0.0544
2025-04-24 14:48:54 [debug] Stopped at height 0.053 mm
2025-04-24 14:48:56 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:56 [debug] Diagnostics for board 50:
2025-04-24 14:48:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:51:00 ago, cause: software
2025-04-24 14:48:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:56 [debug] Moves scheduled 33288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2385265879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:48:56 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21102, writes 0 timeouts 0
2025-04-24 14:48:56 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36289/37117
2025-04-24 14:48:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:56 [info] currentZPosition:0.0543
2025-04-24 14:48:57 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:57 [debug] Diagnostics for board 50:
2025-04-24 14:48:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:02 ago, cause: software
2025-04-24 14:48:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:57 [debug] Moves scheduled 33292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2384205870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:48:57 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17782, writes 0 timeouts 0
2025-04-24 14:48:57 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36013/37152
2025-04-24 14:48:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:57 [info] currentZPosition:0.0540
2025-04-24 14:48:58 [debug] Stopped at height 0.054 mm
2025-04-24 14:48:58 [debug] Diagnostics for board 50:
2025-04-24 14:48:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:48:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:03 ago, cause: software
2025-04-24 14:48:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:48:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:48:58 [debug] Moves scheduled 33296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2383190490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:48:58 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17027, writes 0 timeouts 0
2025-04-24 14:48:58 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36282/37116
2025-04-24 14:48:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:48:58 [info] currentZPosition:0.0545
2025-04-24 14:49:00 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:00 [debug] Diagnostics for board 50:
2025-04-24 14:49:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:05 ago, cause: software
2025-04-24 14:49:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:00 [debug] Moves scheduled 33300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2382139709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:49:00 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17632, writes 0 timeouts 0
2025-04-24 14:49:00 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36091/37123
2025-04-24 14:49:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:00 [info] currentZPosition:0.0550
2025-04-24 14:49:01 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:01 [debug] Diagnostics for board 50:
2025-04-24 14:49:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:06 ago, cause: software
2025-04-24 14:49:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:01 [debug] Moves scheduled 33304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2381091096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:49:01 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17588, writes 0 timeouts 0
2025-04-24 14:49:01 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36328/37119
2025-04-24 14:49:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:01 [info] currentZPosition:0.0536
2025-04-24 14:49:02 [debug] Stopped at height 0.053 mm
2025-04-24 14:49:03 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:03 [debug] Diagnostics for board 50:
2025-04-24 14:49:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:08 ago, cause: software
2025-04-24 14:49:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:03 [debug] Moves scheduled 33310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 105, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2379825433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:49:03 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21241, writes 0 timeouts 0
2025-04-24 14:49:03 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36017/37109
2025-04-24 14:49:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:03 [info] currentZPosition:0.0554
2025-04-24 14:49:03 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:04 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:04 [debug] Diagnostics for board 50:
2025-04-24 14:49:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:09 ago, cause: software
2025-04-24 14:49:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:04 [debug] Moves scheduled 33316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2378550109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:49:04 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21393, writes 0 timeouts 0
2025-04-24 14:49:04 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36339/37104
2025-04-24 14:49:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:05 [info] currentZPosition:0.0544
2025-04-24 14:49:06 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:06 [debug] Diagnostics for board 50:
2025-04-24 14:49:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:11 ago, cause: software
2025-04-24 14:49:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:06 [debug] Moves scheduled 33320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2377504685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:49:06 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17581, writes 0 timeouts 0
2025-04-24 14:49:06 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36040/37115
2025-04-24 14:49:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:06 [info] currentZPosition:0.0550
2025-04-24 14:49:07 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:07 [debug] Diagnostics for board 50:
2025-04-24 14:49:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:51:12 ago, cause: software
2025-04-24 14:49:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:07 [debug] Moves scheduled 33324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2376474086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:49:07 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17249, writes 0 timeouts 0
2025-04-24 14:49:07 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 430, adv 36322/37129
2025-04-24 14:49:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:07 [info] currentZPosition:0.0547
2025-04-24 14:49:09 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:09 [debug] Diagnostics for board 50:
2025-04-24 14:49:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:51:14 ago, cause: software
2025-04-24 14:49:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:09 [debug] Moves scheduled 33328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2375419530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:49:09 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17700, writes 0 timeouts 0
2025-04-24 14:49:09 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36008/37104
2025-04-24 14:49:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:09 [info] currentZPosition:0.0547
2025-04-24 14:49:10 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:10 [debug] Diagnostics for board 50:
2025-04-24 14:49:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:51:15 ago, cause: software
2025-04-24 14:49:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:10 [debug] Moves scheduled 33332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2374387419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:49:10 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17351, writes 0 timeouts 0
2025-04-24 14:49:10 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36366/37083
2025-04-24 14:49:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:10 [info] currentZPosition:0.0544
2025-04-24 14:49:11 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:11 [debug] Diagnostics for board 50:
2025-04-24 14:49:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:16 ago, cause: software
2025-04-24 14:49:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:11 [debug] Moves scheduled 33336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2373327717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:49:11 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17737, writes 0 timeouts 0
2025-04-24 14:49:11 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37126
2025-04-24 14:49:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:12 [info] currentZPosition:0.0543
2025-04-24 14:49:13 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:13 [debug] Diagnostics for board 50:
2025-04-24 14:49:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:18 ago, cause: software
2025-04-24 14:49:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:13 [debug] Moves scheduled 33340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2372310567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:49:13 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17072, writes 0 timeouts 0
2025-04-24 14:49:13 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36279/37124
2025-04-24 14:49:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:13 [info] currentZPosition:0.0548
2025-04-24 14:49:14 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:14 [debug] Diagnostics for board 50:
2025-04-24 14:49:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:19 ago, cause: software
2025-04-24 14:49:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:14 [debug] Moves scheduled 33344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2371247080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:49:14 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17861, writes 0 timeouts 0
2025-04-24 14:49:14 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36048/37131
2025-04-24 14:49:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:14 [info] currentZPosition:0.0544
2025-04-24 14:49:16 [debug] Stopped at height 0.053 mm
2025-04-24 14:49:16 [debug] Diagnostics for board 50:
2025-04-24 14:49:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:51:20 ago, cause: software
2025-04-24 14:49:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:16 [debug] Moves scheduled 33348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2370207174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:49:16 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17416, writes 0 timeouts 0
2025-04-24 14:49:16 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36220/37118
2025-04-24 14:49:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:16 [info] currentZPosition:0.0535
2025-04-24 14:49:17 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:17 [debug] Diagnostics for board 50:
2025-04-24 14:49:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:51:22 ago, cause: software
2025-04-24 14:49:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:17 [debug] Moves scheduled 33352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2369184819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:49:17 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17171, writes 0 timeouts 0
2025-04-24 14:49:17 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36012/37118
2025-04-24 14:49:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:17 [info] currentZPosition:0.0554
2025-04-24 14:49:17 [debug] Stopped at height 0.053 mm
2025-04-24 14:49:19 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:19 [debug] Diagnostics for board 50:
2025-04-24 14:49:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:24 ago, cause: software
2025-04-24 14:49:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:19 [debug] Moves scheduled 33358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 97, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2367905189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:49:19 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21484, writes 0 timeouts 0
2025-04-24 14:49:19 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36053/37117
2025-04-24 14:49:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:19 [info] currentZPosition:0.0541
2025-04-24 14:49:20 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:20 [debug] Diagnostics for board 50:
2025-04-24 14:49:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:51:25 ago, cause: software
2025-04-24 14:49:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:20 [debug] Moves scheduled 33362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2366847791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:49:20 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17724, writes 0 timeouts 0
2025-04-24 14:49:20 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36058/37104
2025-04-24 14:49:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:20 [info] currentZPosition:0.0542
2025-04-24 14:49:21 [debug] Stopped at height 0.056 mm
2025-04-24 14:49:21 [debug] Diagnostics for board 50:
2025-04-24 14:49:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:26 ago, cause: software
2025-04-24 14:49:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:21 [debug] Moves scheduled 33366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2365852680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:49:21 [debug] Driver 0: pos -3484, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16689, writes 0 timeouts 0
2025-04-24 14:49:21 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36114/37138
2025-04-24 14:49:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:22 [info] currentZPosition:0.0557
2025-04-24 14:49:22 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:23 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:23 [debug] Diagnostics for board 50:
2025-04-24 14:49:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:28 ago, cause: software
2025-04-24 14:49:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:23 [debug] Moves scheduled 33372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2364548720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:49:23 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21915, writes 0 timeouts 0
2025-04-24 14:49:23 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36003/37159
2025-04-24 14:49:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:23 [info] currentZPosition:0.0547
2025-04-24 14:49:24 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:24 [debug] Diagnostics for board 50:
2025-04-24 14:49:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:29 ago, cause: software
2025-04-24 14:49:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:24 [debug] Moves scheduled 33376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2363538714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:49:24 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16919, writes 0 timeouts 0
2025-04-24 14:49:24 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36093/37111
2025-04-24 14:49:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8943, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:25 [info] currentZPosition:0.0553
2025-04-24 14:49:26 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:26 [debug] Diagnostics for board 50:
2025-04-24 14:49:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:31 ago, cause: software
2025-04-24 14:49:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:26 [debug] Moves scheduled 33380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2362480188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:49:26 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17772, writes 0 timeouts 0
2025-04-24 14:49:26 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36089/37087
2025-04-24 14:49:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:26 [info] currentZPosition:0.0553
2025-04-24 14:49:27 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:27 [debug] Diagnostics for board 50:
2025-04-24 14:49:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:51:32 ago, cause: software
2025-04-24 14:49:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:27 [debug] Moves scheduled 33384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2361444918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:49:27 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17373, writes 0 timeouts 0
2025-04-24 14:49:27 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36060/37132
2025-04-24 14:49:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:27 [info] currentZPosition:0.0546
2025-04-24 14:49:29 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:29 [debug] Diagnostics for board 50:
2025-04-24 14:49:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:34 ago, cause: software
2025-04-24 14:49:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:29 [debug] Moves scheduled 33388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2360392253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:49:29 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17635, writes 0 timeouts 0
2025-04-24 14:49:29 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36052/37154
2025-04-24 14:49:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:29 [info] currentZPosition:0.0548
2025-04-24 14:49:30 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:30 [debug] Diagnostics for board 50:
2025-04-24 14:49:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:35 ago, cause: software
2025-04-24 14:49:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:30 [debug] Moves scheduled 33392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2359367438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 3
2025-04-24 14:49:30 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17199, writes 0 timeouts 0
2025-04-24 14:49:30 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36075/37140
2025-04-24 14:49:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:30 [info] currentZPosition:0.0546
2025-04-24 14:49:31 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:31 [debug] Diagnostics for board 50:
2025-04-24 14:49:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:36 ago, cause: software
2025-04-24 14:49:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:31 [debug] Moves scheduled 33396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2358297691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:49:31 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17958, writes 0 timeouts 0
2025-04-24 14:49:31 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36055/37127
2025-04-24 14:49:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:32 [info] currentZPosition:0.0541
2025-04-24 14:49:33 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:33 [debug] Diagnostics for board 50:
2025-04-24 14:49:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:38 ago, cause: software
2025-04-24 14:49:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:33 [debug] Moves scheduled 33400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2357299933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:49:33 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16736, writes 0 timeouts 0
2025-04-24 14:49:33 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36097/37139
2025-04-24 14:49:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:33 [info] currentZPosition:0.0555
2025-04-24 14:49:33 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:35 [debug] Stopped at height 0.056 mm
2025-04-24 14:49:35 [debug] Diagnostics for board 50:
2025-04-24 14:49:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:39 ago, cause: software
2025-04-24 14:49:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:35 [debug] Moves scheduled 33406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2356025329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:49:35 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21391, writes 0 timeouts 0
2025-04-24 14:49:35 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36098/37123
2025-04-24 14:49:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8915, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:35 [info] currentZPosition:0.0565
2025-04-24 14:49:35 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:36 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:36 [debug] Diagnostics for board 50:
2025-04-24 14:49:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:41 ago, cause: software
2025-04-24 14:49:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:36 [debug] Moves scheduled 33412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2354735766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:49:36 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21632, writes 0 timeouts 0
2025-04-24 14:49:36 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36068/37124
2025-04-24 14:49:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:36 [info] currentZPosition:0.0546
2025-04-24 14:49:38 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:38 [debug] Diagnostics for board 50:
2025-04-24 14:49:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:43 ago, cause: software
2025-04-24 14:49:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:38 [debug] Moves scheduled 33416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2353695749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:49:38 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17469, writes 0 timeouts 0
2025-04-24 14:49:38 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36050/37108
2025-04-24 14:49:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:38 [info] currentZPosition:0.0555
2025-04-24 14:49:39 [debug] Stopped at height 0.056 mm
2025-04-24 14:49:39 [debug] Diagnostics for board 50:
2025-04-24 14:49:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:44 ago, cause: software
2025-04-24 14:49:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:39 [debug] Moves scheduled 33420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2352675690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:49:39 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17122, writes 0 timeouts 0
2025-04-24 14:49:39 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36087/37120
2025-04-24 14:49:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:39 [info] currentZPosition:0.0557
2025-04-24 14:49:40 [debug] Stopped at height 0.056 mm
2025-04-24 14:49:40 [debug] Diagnostics for board 50:
2025-04-24 14:49:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:45 ago, cause: software
2025-04-24 14:49:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:40 [debug] Moves scheduled 33424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2351621223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:49:40 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17689, writes 0 timeouts 0
2025-04-24 14:49:40 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36043/37158
2025-04-24 14:49:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:40 [info] currentZPosition:0.0559
2025-04-24 14:49:42 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:42 [debug] Diagnostics for board 50:
2025-04-24 14:49:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:47 ago, cause: software
2025-04-24 14:49:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:42 [debug] Moves scheduled 33428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2350587360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:49:42 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17318, writes 0 timeouts 0
2025-04-24 14:49:42 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36075/37124
2025-04-24 14:49:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:42 [info] currentZPosition:0.0552
2025-04-24 14:49:43 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:43 [debug] Diagnostics for board 50:
2025-04-24 14:49:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:48 ago, cause: software
2025-04-24 14:49:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:43 [debug] Moves scheduled 33432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2349513348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:49:43 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18036, writes 0 timeouts 0
2025-04-24 14:49:43 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36051/37100
2025-04-24 14:49:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:43 [info] currentZPosition:0.0543
2025-04-24 14:49:45 [debug] Stopped at height 0.056 mm
2025-04-24 14:49:45 [debug] Diagnostics for board 50:
2025-04-24 14:49:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:49 ago, cause: software
2025-04-24 14:49:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:45 [debug] Moves scheduled 33436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2348517733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:49:45 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16707, writes 0 timeouts 0
2025-04-24 14:49:45 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 36131/37120
2025-04-24 14:49:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:45 [info] currentZPosition:0.0557
2025-04-24 14:49:45 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:46 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:46 [debug] Diagnostics for board 50:
2025-04-24 14:49:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:51 ago, cause: software
2025-04-24 14:49:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:46 [debug] Moves scheduled 33442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2347200938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:49:46 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22093, writes 0 timeouts 0
2025-04-24 14:49:46 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36004/37101
2025-04-24 14:49:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:46 [info] currentZPosition:0.0543
2025-04-24 14:49:48 [debug] Stopped at height 0.056 mm
2025-04-24 14:49:48 [debug] Diagnostics for board 50:
2025-04-24 14:49:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:51:52 ago, cause: software
2025-04-24 14:49:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:48 [debug] Moves scheduled 33446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2346207057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:49:48 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16699, writes 0 timeouts 0
2025-04-24 14:49:48 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36095/37105
2025-04-24 14:49:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:48 [info] currentZPosition:0.0559
2025-04-24 14:49:48 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:49 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:49 [debug] Diagnostics for board 50:
2025-04-24 14:49:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:54 ago, cause: software
2025-04-24 14:49:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:49 [debug] Moves scheduled 33452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 93, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2344906560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:49:49 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21811, writes 0 timeouts 0
2025-04-24 14:49:49 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36001/37120
2025-04-24 14:49:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:49 [info] currentZPosition:0.0552
2025-04-24 14:49:50 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:51 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:51 [debug] Diagnostics for board 50:
2025-04-24 14:49:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:56 ago, cause: software
2025-04-24 14:49:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:51 [debug] Moves scheduled 33458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15306
Sync err accum 95, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2343641179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:49:51 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21216, writes 0 timeouts 0
2025-04-24 14:49:51 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36078/37120
2025-04-24 14:49:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:51 [info] currentZPosition:0.0547
2025-04-24 14:49:52 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:52 [debug] Diagnostics for board 50:
2025-04-24 14:49:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:51:57 ago, cause: software
2025-04-24 14:49:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:52 [debug] Moves scheduled 33462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2342584174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:49:52 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17744, writes 0 timeouts 0
2025-04-24 14:49:52 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36027/37117
2025-04-24 14:49:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:53 [info] currentZPosition:0.0546
2025-04-24 14:49:54 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:54 [debug] Diagnostics for board 50:
2025-04-24 14:49:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:51:59 ago, cause: software
2025-04-24 14:49:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:54 [debug] Moves scheduled 33466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2341576177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:49:54 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16921, writes 0 timeouts 0
2025-04-24 14:49:54 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 338, adv 36128/37126
2025-04-24 14:49:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:54 [info] currentZPosition:0.0554
2025-04-24 14:49:55 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:55 [debug] Diagnostics for board 50:
2025-04-24 14:49:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:00 ago, cause: software
2025-04-24 14:49:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:55 [debug] Moves scheduled 33470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2340519452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:49:55 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17744, writes 0 timeouts 0
2025-04-24 14:49:55 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 420, adv 36073/37123
2025-04-24 14:49:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:55 [info] currentZPosition:0.0555
2025-04-24 14:49:57 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:57 [debug] Diagnostics for board 50:
2025-04-24 14:49:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:01 ago, cause: software
2025-04-24 14:49:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:57 [debug] Moves scheduled 33474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10714, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2339489440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:49:57 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17258, writes 0 timeouts 0
2025-04-24 14:49:57 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36109/37117
2025-04-24 14:49:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:57 [info] currentZPosition:0.0551
2025-04-24 14:49:58 [debug] Stopped at height 0.055 mm
2025-04-24 14:49:58 [debug] Diagnostics for board 50:
2025-04-24 14:49:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:03 ago, cause: software
2025-04-24 14:49:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:58 [debug] Moves scheduled 33478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2338434723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:49:58 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17703, writes 0 timeouts 0
2025-04-24 14:49:58 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36055/37099
2025-04-24 14:49:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:58 [info] currentZPosition:0.0553
2025-04-24 14:49:59 [debug] Stopped at height 0.054 mm
2025-04-24 14:49:59 [debug] Diagnostics for board 50:
2025-04-24 14:49:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:49:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:52:04 ago, cause: software
2025-04-24 14:49:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:49:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:49:59 [debug] Moves scheduled 33482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2337387244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:49:59 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17577, writes 0 timeouts 0
2025-04-24 14:49:59 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36109/37102
2025-04-24 14:49:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:49:59 [info] currentZPosition:0.0539
2025-04-24 14:50:00 [debug] Stopped at height 0.052 mm
2025-04-24 14:50:01 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:01 [debug] Diagnostics for board 50:
2025-04-24 14:50:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:06 ago, cause: software
2025-04-24 14:50:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:01 [debug] Moves scheduled 33488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2336114110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:50:01 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21359, writes 0 timeouts 0
2025-04-24 14:50:01 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36049/37126
2025-04-24 14:50:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:01 [info] currentZPosition:0.0559
2025-04-24 14:50:02 [debug] Stopped at height 0.054 mm
2025-04-24 14:50:03 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:03 [debug] Diagnostics for board 50:
2025-04-24 14:50:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:08 ago, cause: software
2025-04-24 14:50:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:03 [debug] Moves scheduled 33494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter 0/2, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2334838039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:50:03 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21420, writes 0 timeouts 0
2025-04-24 14:50:03 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36057/37164
2025-04-24 14:50:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:03 [info] currentZPosition:0.0550
2025-04-24 14:50:04 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:04 [debug] Diagnostics for board 50:
2025-04-24 14:50:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:09 ago, cause: software
2025-04-24 14:50:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:04 [debug] Moves scheduled 33498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 96, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2333797076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:50:04 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17471, writes 0 timeouts 0
2025-04-24 14:50:04 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36014/37123
2025-04-24 14:50:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:04 [info] currentZPosition:0.0559
2025-04-24 14:50:05 [debug] Stopped at height 0.057 mm
2025-04-24 14:50:05 [debug] Diagnostics for board 50:
2025-04-24 14:50:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:10 ago, cause: software
2025-04-24 14:50:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:05 [debug] Moves scheduled 33502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2332788469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:50:05 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16921, writes 0 timeouts 0
2025-04-24 14:50:05 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36073/37083
2025-04-24 14:50:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8938, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:06 [info] currentZPosition:0.0567
2025-04-24 14:50:07 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:07 [debug] Diagnostics for board 50:
2025-04-24 14:50:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:12 ago, cause: software
2025-04-24 14:50:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:07 [debug] Moves scheduled 33506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2331696728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:50:07 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18336, writes 0 timeouts 0
2025-04-24 14:50:07 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36041/37164
2025-04-24 14:50:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:07 [info] currentZPosition:0.0549
2025-04-24 14:50:07 [debug] Stopped at height 0.053 mm
2025-04-24 14:50:09 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:09 [debug] Diagnostics for board 50:
2025-04-24 14:50:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:14 ago, cause: software
2025-04-24 14:50:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:09 [debug] Moves scheduled 33512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 100, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2330428257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:50:09 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21290, writes 0 timeouts 0
2025-04-24 14:50:09 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36100/37100
2025-04-24 14:50:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:09 [info] currentZPosition:0.0552
2025-04-24 14:50:10 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:10 [debug] Diagnostics for board 50:
2025-04-24 14:50:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:15 ago, cause: software
2025-04-24 14:50:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:10 [debug] Moves scheduled 33516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2329384499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:50:10 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17481, writes 0 timeouts 0
2025-04-24 14:50:10 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36045/37087
2025-04-24 14:50:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:10 [info] currentZPosition:0.0560
2025-04-24 14:50:11 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:11 [debug] Diagnostics for board 50:
2025-04-24 14:50:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:16 ago, cause: software
2025-04-24 14:50:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:11 [debug] Moves scheduled 33520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2328343114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:50:11 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17477, writes 0 timeouts 0
2025-04-24 14:50:11 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36231/37100
2025-04-24 14:50:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:12 [info] currentZPosition:0.0549
2025-04-24 14:50:13 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:13 [debug] Diagnostics for board 50:
2025-04-24 14:50:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:18 ago, cause: software
2025-04-24 14:50:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:13 [debug] Moves scheduled 33524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 89, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2327305376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:50:13 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17427, writes 0 timeouts 0
2025-04-24 14:50:13 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36028/37112
2025-04-24 14:50:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:13 [info] currentZPosition:0.0558
2025-04-24 14:50:14 [debug] Stopped at height 0.054 mm
2025-04-24 14:50:14 [debug] Diagnostics for board 50:
2025-04-24 14:50:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:52:19 ago, cause: software
2025-04-24 14:50:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:14 [debug] Moves scheduled 33528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2326257933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:50:14 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17570, writes 0 timeouts 0
2025-04-24 14:50:14 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36327/37130
2025-04-24 14:50:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:14 [info] currentZPosition:0.0544
2025-04-24 14:50:15 [debug] Stopped at height 0.053 mm
2025-04-24 14:50:16 [debug] Stopped at height 0.054 mm
2025-04-24 14:50:16 [debug] Diagnostics for board 50:
2025-04-24 14:50:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:21 ago, cause: software
2025-04-24 14:50:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:16 [debug] Moves scheduled 33534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2324956309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:50:16 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21823, writes 0 timeouts 0
2025-04-24 14:50:16 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36025/37108
2025-04-24 14:50:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:16 [info] currentZPosition:0.0543
2025-04-24 14:50:17 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:17 [debug] Diagnostics for board 50:
2025-04-24 14:50:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:52:22 ago, cause: software
2025-04-24 14:50:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:17 [debug] Moves scheduled 33538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2323969806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:17 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16574, writes 0 timeouts 0
2025-04-24 14:50:17 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36343/37124
2025-04-24 14:50:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:17 [info] currentZPosition:0.0563
2025-04-24 14:50:18 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:19 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:19 [debug] Diagnostics for board 50:
2025-04-24 14:50:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:24 ago, cause: software
2025-04-24 14:50:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:19 [debug] Moves scheduled 33544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2322669226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:50:19 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21813, writes 0 timeouts 0
2025-04-24 14:50:19 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36034/37103
2025-04-24 14:50:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:19 [info] currentZPosition:0.0557
2025-04-24 14:50:20 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:20 [debug] Diagnostics for board 50:
2025-04-24 14:50:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:25 ago, cause: software
2025-04-24 14:50:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:20 [debug] Moves scheduled 33548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2321647110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:50:20 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17138, writes 0 timeouts 0
2025-04-24 14:50:20 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36297/37119
2025-04-24 14:50:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:20 [info] currentZPosition:0.0558
2025-04-24 14:50:22 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:22 [debug] Diagnostics for board 50:
2025-04-24 14:50:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:27 ago, cause: software
2025-04-24 14:50:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:22 [debug] Moves scheduled 33552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2320601932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:50:22 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17566, writes 0 timeouts 0
2025-04-24 14:50:22 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36016/37136
2025-04-24 14:50:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:22 [info] currentZPosition:0.0563
2025-04-24 14:50:23 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:23 [debug] Diagnostics for board 50:
2025-04-24 14:50:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:28 ago, cause: software
2025-04-24 14:50:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:23 [debug] Moves scheduled 33556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2319556494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:50:23 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17510, writes 0 timeouts 0
2025-04-24 14:50:23 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36185/37127
2025-04-24 14:50:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:23 [info] currentZPosition:0.0552
2025-04-24 14:50:25 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:25 [debug] Diagnostics for board 50:
2025-04-24 14:50:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:29 ago, cause: software
2025-04-24 14:50:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:25 [debug] Moves scheduled 33560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 97, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2318508374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:25 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17601, writes 0 timeouts 0
2025-04-24 14:50:25 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36048/37069
2025-04-24 14:50:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:25 [info] currentZPosition:0.0559
2025-04-24 14:50:26 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:26 [debug] Diagnostics for board 50:
2025-04-24 14:50:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:31 ago, cause: software
2025-04-24 14:50:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:26 [debug] Moves scheduled 33564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 93, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2317491751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:26 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17082, writes 0 timeouts 0
2025-04-24 14:50:26 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36334/37147
2025-04-24 14:50:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:26 [info] currentZPosition:0.0562
2025-04-24 14:50:27 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:27 [debug] Diagnostics for board 50:
2025-04-24 14:50:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:32 ago, cause: software
2025-04-24 14:50:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:27 [debug] Moves scheduled 33568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2316434208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:50:27 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17729, writes 0 timeouts 0
2025-04-24 14:50:27 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36107/37104
2025-04-24 14:50:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:27 [info] currentZPosition:0.0564
2025-04-24 14:50:29 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:29 [debug] Diagnostics for board 50:
2025-04-24 14:50:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:34 ago, cause: software
2025-04-24 14:50:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:29 [debug] Moves scheduled 33572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2315406889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:29 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17232, writes 0 timeouts 0
2025-04-24 14:50:29 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36308/37122
2025-04-24 14:50:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:29 [info] currentZPosition:0.0563
2025-04-24 14:50:30 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:30 [debug] Diagnostics for board 50:
2025-04-24 14:50:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:35 ago, cause: software
2025-04-24 14:50:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:30 [debug] Moves scheduled 33576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2314346575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:50:30 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17834, writes 0 timeouts 0
2025-04-24 14:50:30 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36005/37128
2025-04-24 14:50:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:30 [info] currentZPosition:0.0561
2025-04-24 14:50:31 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:31 [debug] Diagnostics for board 50:
2025-04-24 14:50:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:36 ago, cause: software
2025-04-24 14:50:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:31 [debug] Moves scheduled 33580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 65, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2313319918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:50:31 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17185, writes 0 timeouts 0
2025-04-24 14:50:31 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36319/37105
2025-04-24 14:50:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:32 [info] currentZPosition:0.0560
2025-04-24 14:50:33 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:33 [debug] Diagnostics for board 50:
2025-04-24 14:50:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:38 ago, cause: software
2025-04-24 14:50:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:33 [debug] Moves scheduled 33584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 68, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2312265179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:50:33 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17691, writes 0 timeouts 0
2025-04-24 14:50:33 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36028/37143
2025-04-24 14:50:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:33 [info] currentZPosition:0.0561
2025-04-24 14:50:34 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:34 [debug] Diagnostics for board 50:
2025-04-24 14:50:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:52:39 ago, cause: software
2025-04-24 14:50:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:34 [debug] Moves scheduled 33588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2311249345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:50:34 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17059, writes 0 timeouts 0
2025-04-24 14:50:34 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36350/37142
2025-04-24 14:50:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:34 [info] currentZPosition:0.0565
2025-04-24 14:50:36 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:36 [debug] Diagnostics for board 50:
2025-04-24 14:50:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:41 ago, cause: software
2025-04-24 14:50:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:36 [debug] Moves scheduled 33592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2310168959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:50:36 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18107, writes 0 timeouts 0
2025-04-24 14:50:36 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36048/37103
2025-04-24 14:50:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:36 [info] currentZPosition:0.0552
2025-04-24 14:50:36 [debug] Stopped at height 0.054 mm
2025-04-24 14:50:37 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:37 [debug] Diagnostics for board 50:
2025-04-24 14:50:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:42 ago, cause: software
2025-04-24 14:50:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:37 [debug] Moves scheduled 33598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2308913315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:50:37 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21067, writes 0 timeouts 0
2025-04-24 14:50:37 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36377/37120
2025-04-24 14:50:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:37 [info] currentZPosition:0.0559
2025-04-24 14:50:38 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:39 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:39 [debug] Diagnostics for board 50:
2025-04-24 14:50:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:44 ago, cause: software
2025-04-24 14:50:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:39 [debug] Moves scheduled 33604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 225, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2307628802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:39 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21568, writes 0 timeouts 0
2025-04-24 14:50:39 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36096/37122
2025-04-24 14:50:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:39 [info] currentZPosition:0.0561
2025-04-24 14:50:40 [debug] Stopped at height 0.057 mm
2025-04-24 14:50:40 [debug] Diagnostics for board 50:
2025-04-24 14:50:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:45 ago, cause: software
2025-04-24 14:50:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:40 [debug] Moves scheduled 33608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2306623058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:40 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16871, writes 0 timeouts 0
2025-04-24 14:50:40 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36297/37121
2025-04-24 14:50:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:40 [info] currentZPosition:0.0572
2025-04-24 14:50:42 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:42 [debug] Diagnostics for board 50:
2025-04-24 14:50:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:47 ago, cause: software
2025-04-24 14:50:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:42 [debug] Moves scheduled 33612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2305543179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:42 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18115, writes 0 timeouts 0
2025-04-24 14:50:42 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36031/37123
2025-04-24 14:50:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:42 [info] currentZPosition:0.0561
2025-04-24 14:50:43 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:43 [debug] Diagnostics for board 50:
2025-04-24 14:50:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:48 ago, cause: software
2025-04-24 14:50:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:43 [debug] Moves scheduled 33616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 88, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2304513004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:43 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17289, writes 0 timeouts 0
2025-04-24 14:50:43 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36330/37159
2025-04-24 14:50:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:43 [info] currentZPosition:0.0557
2025-04-24 14:50:45 [debug] Stopped at height 0.057 mm
2025-04-24 14:50:45 [debug] Diagnostics for board 50:
2025-04-24 14:50:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:49 ago, cause: software
2025-04-24 14:50:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:45 [debug] Moves scheduled 33620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2303478332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:45 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17370, writes 0 timeouts 0
2025-04-24 14:50:45 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36100/37169
2025-04-24 14:50:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8933, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:45 [info] currentZPosition:0.0569
2025-04-24 14:50:46 [debug] Stopped at height 0.054 mm
2025-04-24 14:50:46 [debug] Diagnostics for board 50:
2025-04-24 14:50:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:51 ago, cause: software
2025-04-24 14:50:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:46 [debug] Moves scheduled 33624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2302406529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:46 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17977, writes 0 timeouts 0
2025-04-24 14:50:46 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36355/37113
2025-04-24 14:50:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:46 [info] currentZPosition:0.0545
2025-04-24 14:50:46 [debug] Stopped at height 0.053 mm
2025-04-24 14:50:48 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:48 [debug] Diagnostics for board 50:
2025-04-24 14:50:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:53 ago, cause: software
2025-04-24 14:50:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:48 [debug] Moves scheduled 33630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2301143855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:50:48 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21202, writes 0 timeouts 0
2025-04-24 14:50:48 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36041/37169
2025-04-24 14:50:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:48 [info] currentZPosition:0.0563
2025-04-24 14:50:48 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:49 [debug] Stopped at height 0.057 mm
2025-04-24 14:50:49 [debug] Diagnostics for board 50:
2025-04-24 14:50:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:52:54 ago, cause: software
2025-04-24 14:50:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:49 [debug] Moves scheduled 33636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2299887528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:50:49 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21079, writes 0 timeouts 0
2025-04-24 14:50:49 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36335/37146
2025-04-24 14:50:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:49 [info] currentZPosition:0.0569
2025-04-24 14:50:51 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:51 [debug] Diagnostics for board 50:
2025-04-24 14:50:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:56 ago, cause: software
2025-04-24 14:50:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:51 [debug] Moves scheduled 33640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 87, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2298818642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:50:51 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17922, writes 0 timeouts 0
2025-04-24 14:50:51 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36057/37144
2025-04-24 14:50:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:51 [info] currentZPosition:0.0563
2025-04-24 14:50:52 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:52 [debug] Diagnostics for board 50:
2025-04-24 14:50:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:57 ago, cause: software
2025-04-24 14:50:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:52 [debug] Moves scheduled 33644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2297797797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:50:52 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17113, writes 0 timeouts 0
2025-04-24 14:50:52 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36327/37147
2025-04-24 14:50:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:52 [info] currentZPosition:0.0563
2025-04-24 14:50:54 [debug] Stopped at height 0.055 mm
2025-04-24 14:50:54 [debug] Diagnostics for board 50:
2025-04-24 14:50:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:52:58 ago, cause: software
2025-04-24 14:50:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:54 [debug] Moves scheduled 33648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2296725467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:50:54 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17999, writes 0 timeouts 0
2025-04-24 14:50:54 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36011/37170
2025-04-24 14:50:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:54 [info] currentZPosition:0.0555
2025-04-24 14:50:55 [debug] Stopped at height 0.057 mm
2025-04-24 14:50:55 [debug] Diagnostics for board 50:
2025-04-24 14:50:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:00 ago, cause: software
2025-04-24 14:50:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:55 [debug] Moves scheduled 33652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2295720288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:50:55 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16865, writes 0 timeouts 0
2025-04-24 14:50:55 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36352/37144
2025-04-24 14:50:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:55 [info] currentZPosition:0.0567
2025-04-24 14:50:56 [debug] Stopped at height 0.057 mm
2025-04-24 14:50:56 [debug] Diagnostics for board 50:
2025-04-24 14:50:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:01 ago, cause: software
2025-04-24 14:50:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:56 [debug] Moves scheduled 33656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2294664249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:50:56 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17749, writes 0 timeouts 0
2025-04-24 14:50:56 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36071/37136
2025-04-24 14:50:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8952, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:56 [info] currentZPosition:0.0571
2025-04-24 14:50:58 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:58 [debug] Diagnostics for board 50:
2025-04-24 14:50:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:03 ago, cause: software
2025-04-24 14:50:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:58 [debug] Moves scheduled 33660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2293625438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:50:58 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17405, writes 0 timeouts 0
2025-04-24 14:50:58 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36381/37105
2025-04-24 14:50:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:58 [info] currentZPosition:0.0564
2025-04-24 14:50:59 [debug] Stopped at height 0.056 mm
2025-04-24 14:50:59 [debug] Diagnostics for board 50:
2025-04-24 14:50:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:50:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:04 ago, cause: software
2025-04-24 14:50:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:50:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:50:59 [debug] Moves scheduled 33664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2292570271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:50:59 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17714, writes 0 timeouts 0
2025-04-24 14:50:59 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36055/37118
2025-04-24 14:50:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:50:59 [info] currentZPosition:0.0565
2025-04-24 14:51:00 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:00 [debug] Diagnostics for board 50:
2025-04-24 14:51:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:05 ago, cause: software
2025-04-24 14:51:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:00 [debug] Moves scheduled 33668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2291556434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:51:00 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17004, writes 0 timeouts 0
2025-04-24 14:51:00 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36302/37161
2025-04-24 14:51:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:01 [info] currentZPosition:0.0572
2025-04-24 14:51:02 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:02 [debug] Diagnostics for board 50:
2025-04-24 14:51:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:07 ago, cause: software
2025-04-24 14:51:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:02 [debug] Moves scheduled 33672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2290504745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:51:02 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17656, writes 0 timeouts 0
2025-04-24 14:51:02 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36033/37163
2025-04-24 14:51:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:02 [info] currentZPosition:0.0575
2025-04-24 14:51:03 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:03 [debug] Diagnostics for board 50:
2025-04-24 14:51:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:08 ago, cause: software
2025-04-24 14:51:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:03 [debug] Moves scheduled 33676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2289480878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:51:03 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17179, writes 0 timeouts 0
2025-04-24 14:51:03 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36297/37137
2025-04-24 14:51:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:03 [info] currentZPosition:0.0575
2025-04-24 14:51:05 [debug] Stopped at height 0.056 mm
2025-04-24 14:51:05 [debug] Diagnostics for board 50:
2025-04-24 14:51:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:10 ago, cause: software
2025-04-24 14:51:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:05 [debug] Moves scheduled 33680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 66, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2288400087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:05 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18134, writes 0 timeouts 0
2025-04-24 14:51:05 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36000/37129
2025-04-24 14:51:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:05 [info] currentZPosition:0.0564
2025-04-24 14:51:06 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:06 [debug] Diagnostics for board 50:
2025-04-24 14:51:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:11 ago, cause: software
2025-04-24 14:51:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:06 [debug] Moves scheduled 33684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2287386301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:06 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17015, writes 0 timeouts 0
2025-04-24 14:51:06 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36272/37098
2025-04-24 14:51:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:06 [info] currentZPosition:0.0569
2025-04-24 14:51:07 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:07 [debug] Diagnostics for board 50:
2025-04-24 14:51:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:12 ago, cause: software
2025-04-24 14:51:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:07 [debug] Moves scheduled 33688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 74, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2286344518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:07 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17473, writes 0 timeouts 0
2025-04-24 14:51:07 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36052/37120
2025-04-24 14:51:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:08 [info] currentZPosition:0.0578
2025-04-24 14:51:09 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:09 [debug] Diagnostics for board 50:
2025-04-24 14:51:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:14 ago, cause: software
2025-04-24 14:51:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:09 [debug] Moves scheduled 33692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2285303443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:51:09 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17463, writes 0 timeouts 0
2025-04-24 14:51:09 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36086/37106
2025-04-24 14:51:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8967, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:09 [info] currentZPosition:0.0570
2025-04-24 14:51:10 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:10 [debug] Diagnostics for board 50:
2025-04-24 14:51:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:15 ago, cause: software
2025-04-24 14:51:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:10 [debug] Moves scheduled 33696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2284240274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:10 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17841, writes 0 timeouts 0
2025-04-24 14:51:10 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36065/37124
2025-04-24 14:51:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:10 [info] currentZPosition:0.0567
2025-04-24 14:51:12 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:12 [debug] Diagnostics for board 50:
2025-04-24 14:51:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:16 ago, cause: software
2025-04-24 14:51:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:12 [debug] Moves scheduled 33700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2283219185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:12 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17150, writes 0 timeouts 0
2025-04-24 14:51:12 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36103/37121
2025-04-24 14:51:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:12 [info] currentZPosition:0.0567
2025-04-24 14:51:13 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:13 [debug] Diagnostics for board 50:
2025-04-24 14:51:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:53:18 ago, cause: software
2025-04-24 14:51:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:13 [debug] Moves scheduled 33704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2282164266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:51:13 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17698, writes 0 timeouts 0
2025-04-24 14:51:13 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36015/37108
2025-04-24 14:51:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:13 [info] currentZPosition:0.0570
2025-04-24 14:51:14 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:14 [debug] Diagnostics for board 50:
2025-04-24 14:51:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:19 ago, cause: software
2025-04-24 14:51:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:14 [debug] Moves scheduled 33708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2281152062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:51:14 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16984, writes 0 timeouts 0
2025-04-24 14:51:14 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36062/37101
2025-04-24 14:51:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:14 [info] currentZPosition:0.0575
2025-04-24 14:51:16 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:16 [debug] Diagnostics for board 50:
2025-04-24 14:51:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:21 ago, cause: software
2025-04-24 14:51:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:16 [debug] Moves scheduled 33712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 75, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2280085284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:16 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17906, writes 0 timeouts 0
2025-04-24 14:51:16 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36031/37147
2025-04-24 14:51:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:16 [info] currentZPosition:0.0572
2025-04-24 14:51:17 [debug] Stopped at height 0.056 mm
2025-04-24 14:51:17 [debug] Diagnostics for board 50:
2025-04-24 14:51:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:22 ago, cause: software
2025-04-24 14:51:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:17 [debug] Moves scheduled 33716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=10000, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2279050840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:51:17 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17339, writes 0 timeouts 0
2025-04-24 14:51:17 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 344, adv 36103/37154
2025-04-24 14:51:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:17 [info] currentZPosition:0.0565
2025-04-24 14:51:19 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:19 [debug] Diagnostics for board 50:
2025-04-24 14:51:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:23 ago, cause: software
2025-04-24 14:51:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:19 [debug] Moves scheduled 33720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2278016674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:51:19 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17358, writes 0 timeouts 0
2025-04-24 14:51:19 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36006/37085
2025-04-24 14:51:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8944, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:19 [info] currentZPosition:0.0576
2025-04-24 14:51:20 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:20 [debug] Diagnostics for board 50:
2025-04-24 14:51:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:25 ago, cause: software
2025-04-24 14:51:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:20 [debug] Moves scheduled 33724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2276976721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:51:20 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17472, writes 0 timeouts 0
2025-04-24 14:51:20 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36159/37098
2025-04-24 14:51:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:20 [info] currentZPosition:0.0566
2025-04-24 14:51:21 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:21 [debug] Diagnostics for board 50:
2025-04-24 14:51:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:26 ago, cause: software
2025-04-24 14:51:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:21 [debug] Moves scheduled 33728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2275921600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:51:21 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17669, writes 0 timeouts 0
2025-04-24 14:51:21 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36015/37093
2025-04-24 14:51:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:21 [info] currentZPosition:0.0568
2025-04-24 14:51:23 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:23 [debug] Diagnostics for board 50:
2025-04-24 14:51:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:28 ago, cause: software
2025-04-24 14:51:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:23 [debug] Moves scheduled 33732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2274906972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:51:23 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17034, writes 0 timeouts 0
2025-04-24 14:51:23 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36113/37151
2025-04-24 14:51:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:23 [info] currentZPosition:0.0570
2025-04-24 14:51:24 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:24 [debug] Diagnostics for board 50:
2025-04-24 14:51:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:29 ago, cause: software
2025-04-24 14:51:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:24 [debug] Moves scheduled 33736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2273859149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:51:24 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17577, writes 0 timeouts 0
2025-04-24 14:51:24 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37125
2025-04-24 14:51:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:24 [info] currentZPosition:0.0576
2025-04-24 14:51:25 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:25 [debug] Diagnostics for board 50:
2025-04-24 14:51:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:30 ago, cause: software
2025-04-24 14:51:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:25 [debug] Moves scheduled 33740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2272822951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:25 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17399, writes 0 timeouts 0
2025-04-24 14:51:25 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36098/37114
2025-04-24 14:51:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:26 [info] currentZPosition:0.0567
2025-04-24 14:51:27 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:27 [debug] Diagnostics for board 50:
2025-04-24 14:51:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:32 ago, cause: software
2025-04-24 14:51:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:27 [debug] Moves scheduled 33744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2271773667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:27 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17634, writes 0 timeouts 0
2025-04-24 14:51:27 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36027/37101
2025-04-24 14:51:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:27 [info] currentZPosition:0.0573
2025-04-24 14:51:28 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:28 [debug] Diagnostics for board 50:
2025-04-24 14:51:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:33 ago, cause: software
2025-04-24 14:51:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:28 [debug] Moves scheduled 33748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2270737116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:51:28 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17364, writes 0 timeouts 0
2025-04-24 14:51:28 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36064/37092
2025-04-24 14:51:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:28 [info] currentZPosition:0.0567
2025-04-24 14:51:30 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:30 [debug] Diagnostics for board 50:
2025-04-24 14:51:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:35 ago, cause: software
2025-04-24 14:51:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:30 [debug] Moves scheduled 33752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2269683296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:51:30 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17669, writes 0 timeouts 0
2025-04-24 14:51:30 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36060/37124
2025-04-24 14:51:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:30 [info] currentZPosition:0.0569
2025-04-24 14:51:31 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:31 [debug] Diagnostics for board 50:
2025-04-24 14:51:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:36 ago, cause: software
2025-04-24 14:51:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:31 [debug] Moves scheduled 33756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2268673491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:31 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16982, writes 0 timeouts 0
2025-04-24 14:51:31 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36073/37139
2025-04-24 14:51:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:31 [info] currentZPosition:0.0576
2025-04-24 14:51:32 [debug] Stopped at height 0.059 mm
2025-04-24 14:51:32 [debug] Diagnostics for board 50:
2025-04-24 14:51:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:53:37 ago, cause: software
2025-04-24 14:51:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:32 [debug] Moves scheduled 33760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2267635696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:32 [debug] Driver 0: pos -3483, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17378, writes 0 timeouts 0
2025-04-24 14:51:32 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36012/37155
2025-04-24 14:51:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8963, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:32 [info] currentZPosition:0.0586
2025-04-24 14:51:34 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:34 [debug] Diagnostics for board 50:
2025-04-24 14:51:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:53:39 ago, cause: software
2025-04-24 14:51:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:34 [debug] Moves scheduled 33764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2266596899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:34 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17440, writes 0 timeouts 0
2025-04-24 14:51:34 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36104/37090
2025-04-24 14:51:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:34 [info] currentZPosition:0.0578
2025-04-24 14:51:35 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:35 [debug] Diagnostics for board 50:
2025-04-24 14:51:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:40 ago, cause: software
2025-04-24 14:51:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:35 [debug] Moves scheduled 33768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2265541175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:51:35 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17734, writes 0 timeouts 0
2025-04-24 14:51:35 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36090/37126
2025-04-24 14:51:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:35 [info] currentZPosition:0.0579
2025-04-24 14:51:37 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:37 [debug] Diagnostics for board 50:
2025-04-24 14:51:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:41 ago, cause: software
2025-04-24 14:51:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:37 [debug] Moves scheduled 33772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter 0/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2264517137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:51:37 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17155, writes 0 timeouts 0
2025-04-24 14:51:37 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36066/37105
2025-04-24 14:51:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:37 [info] currentZPosition:0.0579
2025-04-24 14:51:38 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:38 [debug] Diagnostics for board 50:
2025-04-24 14:51:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:43 ago, cause: software
2025-04-24 14:51:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:38 [debug] Moves scheduled 33776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2263461211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:38 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17720, writes 0 timeouts 0
2025-04-24 14:51:38 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36059/37104
2025-04-24 14:51:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:38 [info] currentZPosition:0.0580
2025-04-24 14:51:39 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:39 [debug] Diagnostics for board 50:
2025-04-24 14:51:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:44 ago, cause: software
2025-04-24 14:51:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:39 [debug] Moves scheduled 33780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2262446713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:51:39 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17042, writes 0 timeouts 0
2025-04-24 14:51:39 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36075/37087
2025-04-24 14:51:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:39 [info] currentZPosition:0.0583
2025-04-24 14:51:41 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:41 [debug] Diagnostics for board 50:
2025-04-24 14:51:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:46 ago, cause: software
2025-04-24 14:51:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:41 [debug] Moves scheduled 33784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 70, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2261378712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:51:41 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17886, writes 0 timeouts 0
2025-04-24 14:51:41 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36042/37121
2025-04-24 14:51:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:41 [info] currentZPosition:0.0579
2025-04-24 14:51:42 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:42 [debug] Diagnostics for board 50:
2025-04-24 14:51:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:47 ago, cause: software
2025-04-24 14:51:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:42 [debug] Moves scheduled 33788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2260357293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:51:42 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17134, writes 0 timeouts 0
2025-04-24 14:51:42 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36095/37130
2025-04-24 14:51:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:42 [info] currentZPosition:0.0581
2025-04-24 14:51:44 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:44 [debug] Diagnostics for board 50:
2025-04-24 14:51:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:48 ago, cause: software
2025-04-24 14:51:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:44 [debug] Moves scheduled 33792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2259278581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:51:44 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18120, writes 0 timeouts 0
2025-04-24 14:51:44 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36016/37095
2025-04-24 14:51:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:44 [info] currentZPosition:0.0569
2025-04-24 14:51:45 [debug] Stopped at height 0.056 mm
2025-04-24 14:51:45 [debug] Diagnostics for board 50:
2025-04-24 14:51:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:50 ago, cause: software
2025-04-24 14:51:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:45 [debug] Moves scheduled 33796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 91, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2258243516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:51:45 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17336, writes 0 timeouts 0
2025-04-24 14:51:45 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36070/37115
2025-04-24 14:51:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:45 [info] currentZPosition:0.0563
2025-04-24 14:51:46 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:46 [debug] Diagnostics for board 50:
2025-04-24 14:51:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:53:51 ago, cause: software
2025-04-24 14:51:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:46 [debug] Moves scheduled 33800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2257216118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:51:46 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17241, writes 0 timeouts 0
2025-04-24 14:51:46 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36054/37077
2025-04-24 14:51:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:46 [info] currentZPosition:0.0581
2025-04-24 14:51:47 [debug] Stopped at height 0.056 mm
2025-04-24 14:51:48 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:48 [debug] Diagnostics for board 50:
2025-04-24 14:51:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:53:53 ago, cause: software
2025-04-24 14:51:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:48 [debug] Moves scheduled 33806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 118, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2255947920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:48 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21331, writes 0 timeouts 0
2025-04-24 14:51:48 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36092/37121
2025-04-24 14:51:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:48 [info] currentZPosition:0.0572
2025-04-24 14:51:49 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:49 [debug] Diagnostics for board 50:
2025-04-24 14:51:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:54 ago, cause: software
2025-04-24 14:51:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:49 [debug] Moves scheduled 33810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 126, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2254880603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:49 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17873, writes 0 timeouts 0
2025-04-24 14:51:49 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36013/37168
2025-04-24 14:51:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:49 [info] currentZPosition:0.0568
2025-04-24 14:51:51 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:51 [debug] Diagnostics for board 50:
2025-04-24 14:51:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:56 ago, cause: software
2025-04-24 14:51:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:51 [debug] Moves scheduled 33814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 126, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2253874443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:51:51 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16888, writes 0 timeouts 0
2025-04-24 14:51:51 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36095/37110
2025-04-24 14:51:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:51 [info] currentZPosition:0.0577
2025-04-24 14:51:52 [debug] Stopped at height 0.055 mm
2025-04-24 14:51:52 [debug] Diagnostics for board 50:
2025-04-24 14:51:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:57 ago, cause: software
2025-04-24 14:51:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:52 [debug] Moves scheduled 33818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15306
Sync err accum 115, peak jitter -4/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2252780014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, ma
2025-04-24 14:51:52 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18413, writes 0 timeouts 0
2025-04-24 14:51:52 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36040/37113
2025-04-24 14:51:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:52 [info] currentZPosition:0.0555
2025-04-24 14:51:53 [debug] Stopped at height 0.055 mm
2025-04-24 14:51:54 [debug] Stopped at height 0.058 mm
2025-04-24 14:51:54 [debug] Diagnostics for board 50:
2025-04-24 14:51:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:53:59 ago, cause: software
2025-04-24 14:51:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:54 [debug] Moves scheduled 33824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2251569230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 14:51:54 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20274, writes 0 timeouts 0
2025-04-24 14:51:54 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36015/37099
2025-04-24 14:51:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8936, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:54 [info] currentZPosition:0.0582
2025-04-24 14:51:54 [debug] Stopped at height 0.056 mm
2025-04-24 14:51:56 [debug] Stopped at height 0.057 mm
2025-04-24 14:51:56 [debug] Diagnostics for board 50:
2025-04-24 14:51:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:00 ago, cause: software
2025-04-24 14:51:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:56 [debug] Moves scheduled 33830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 85, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2250262538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:51:56 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21915, writes 0 timeouts 0
2025-04-24 14:51:56 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35998/37117
2025-04-24 14:51:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:56 [info] currentZPosition:0.0571
2025-04-24 14:51:57 [debug] Stopped at height 0.056 mm
2025-04-24 14:51:57 [debug] Diagnostics for board 50:
2025-04-24 14:51:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:02 ago, cause: software
2025-04-24 14:51:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:57 [debug] Moves scheduled 33834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2249229016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:51:57 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17354, writes 0 timeouts 0
2025-04-24 14:51:57 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36055/37121
2025-04-24 14:51:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:57 [info] currentZPosition:0.0565
2025-04-24 14:51:58 [debug] Stopped at height 0.059 mm
2025-04-24 14:51:58 [debug] Diagnostics for board 50:
2025-04-24 14:51:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:51:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:54:03 ago, cause: software
2025-04-24 14:51:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:51:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:51:58 [debug] Moves scheduled 33838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2248213095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:51:58 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17052, writes 0 timeouts 0
2025-04-24 14:51:58 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36017/37077
2025-04-24 14:51:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8913, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:51:58 [info] currentZPosition:0.0586
2025-04-24 14:51:59 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:00 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:00 [debug] Diagnostics for board 50:
2025-04-24 14:52:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:05 ago, cause: software
2025-04-24 14:52:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:00 [debug] Moves scheduled 33844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2246970293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:52:00 [debug] Driver 0: pos -3481, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20834, writes 0 timeouts 0
2025-04-24 14:52:00 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36211/37108
2025-04-24 14:52:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 820
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8908, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:00 [info] currentZPosition:0.0592
2025-04-24 14:52:00 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:02 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:02 [debug] Diagnostics for board 50:
2025-04-24 14:52:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:54:07 ago, cause: software
2025-04-24 14:52:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:02 [debug] Moves scheduled 33850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2245653857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:52:02 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22104, writes 0 timeouts 0
2025-04-24 14:52:02 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36010/37151
2025-04-24 14:52:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:02 [info] currentZPosition:0.0582
2025-04-24 14:52:03 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:03 [debug] Diagnostics for board 50:
2025-04-24 14:52:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:08 ago, cause: software
2025-04-24 14:52:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:03 [debug] Moves scheduled 33854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 94, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2244639037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:52:03 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17017, writes 0 timeouts 0
2025-04-24 14:52:03 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36342/37104
2025-04-24 14:52:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:03 [info] currentZPosition:0.0585
2025-04-24 14:52:04 [debug] Stopped at height 0.056 mm
2025-04-24 14:52:04 [debug] Diagnostics for board 50:
2025-04-24 14:52:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:09 ago, cause: software
2025-04-24 14:52:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:04 [debug] Moves scheduled 33858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2243540680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:04 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18431, writes 0 timeouts 0
2025-04-24 14:52:04 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36056/37121
2025-04-24 14:52:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:05 [info] currentZPosition:0.0564
2025-04-24 14:52:05 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:06 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:06 [debug] Diagnostics for board 50:
2025-04-24 14:52:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:11 ago, cause: software
2025-04-24 14:52:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:06 [debug] Moves scheduled 33864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2242308875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:52:06 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20660, writes 0 timeouts 0
2025-04-24 14:52:06 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36341/37134
2025-04-24 14:52:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:06 [info] currentZPosition:0.0576
2025-04-24 14:52:08 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:08 [debug] Diagnostics for board 50:
2025-04-24 14:52:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:12 ago, cause: software
2025-04-24 14:52:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:08 [debug] Moves scheduled 33868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2241246773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:52:08 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17836, writes 0 timeouts 0
2025-04-24 14:52:08 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36044/37157
2025-04-24 14:52:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:08 [info] currentZPosition:0.0572
2025-04-24 14:52:09 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:09 [debug] Diagnostics for board 50:
2025-04-24 14:52:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:14 ago, cause: software
2025-04-24 14:52:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:09 [debug] Moves scheduled 33872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2240224792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:09 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17151, writes 0 timeouts 0
2025-04-24 14:52:09 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36298/37119
2025-04-24 14:52:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:09 [info] currentZPosition:0.0574
2025-04-24 14:52:10 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:10 [debug] Diagnostics for board 50:
2025-04-24 14:52:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:15 ago, cause: software
2025-04-24 14:52:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:10 [debug] Moves scheduled 33876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2239179394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:52:10 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17537, writes 0 timeouts 0
2025-04-24 14:52:10 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36058/37122
2025-04-24 14:52:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:10 [info] currentZPosition:0.0580
2025-04-24 14:52:12 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:12 [debug] Diagnostics for board 50:
2025-04-24 14:52:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:54:17 ago, cause: software
2025-04-24 14:52:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:12 [debug] Moves scheduled 33880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2238159793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:52:12 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17105, writes 0 timeouts 0
2025-04-24 14:52:12 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36352/37170
2025-04-24 14:52:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:12 [info] currentZPosition:0.0582
2025-04-24 14:52:13 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:13 [debug] Diagnostics for board 50:
2025-04-24 14:52:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:18 ago, cause: software
2025-04-24 14:52:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:13 [debug] Moves scheduled 33884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 59, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2237087427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max 
2025-04-24 14:52:13 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18000, writes 0 timeouts 0
2025-04-24 14:52:13 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36013/37128
2025-04-24 14:52:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:13 [info] currentZPosition:0.0576
2025-04-24 14:52:14 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:14 [debug] Diagnostics for board 50:
2025-04-24 14:52:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:19 ago, cause: software
2025-04-24 14:52:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:14 [debug] Moves scheduled 33888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2236068259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:52:14 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17100, writes 0 timeouts 0
2025-04-24 14:52:14 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36348/37121
2025-04-24 14:52:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:15 [info] currentZPosition:0.0578
2025-04-24 14:52:16 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:16 [debug] Diagnostics for board 50:
2025-04-24 14:52:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:21 ago, cause: software
2025-04-24 14:52:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:16 [debug] Moves scheduled 33892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2235018452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:52:16 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17610, writes 0 timeouts 0
2025-04-24 14:52:16 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36033/37104
2025-04-24 14:52:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:16 [info] currentZPosition:0.0582
2025-04-24 14:52:17 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:17 [debug] Diagnostics for board 50:
2025-04-24 14:52:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:22 ago, cause: software
2025-04-24 14:52:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:17 [debug] Moves scheduled 33896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 101, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2233988606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:17 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17295, writes 0 timeouts 0
2025-04-24 14:52:17 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36341/37148
2025-04-24 14:52:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:17 [info] currentZPosition:0.0580
2025-04-24 14:52:19 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:19 [debug] Diagnostics for board 50:
2025-04-24 14:52:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:24 ago, cause: software
2025-04-24 14:52:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:19 [debug] Moves scheduled 33900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 112, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2232941684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:19 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17573, writes 0 timeouts 0
2025-04-24 14:52:19 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36081/37084
2025-04-24 14:52:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:19 [info] currentZPosition:0.0585
2025-04-24 14:52:20 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:20 [debug] Diagnostics for board 50:
2025-04-24 14:52:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:25 ago, cause: software
2025-04-24 14:52:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:20 [debug] Moves scheduled 33904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 120, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2231912751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:52:20 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17261, writes 0 timeouts 0
2025-04-24 14:52:20 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36337/37165
2025-04-24 14:52:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:20 [info] currentZPosition:0.0582
2025-04-24 14:52:21 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:21 [debug] Diagnostics for board 50:
2025-04-24 14:52:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:26 ago, cause: software
2025-04-24 14:52:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:21 [debug] Moves scheduled 33908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 126, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2230847728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:52:21 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17858, writes 0 timeouts 0
2025-04-24 14:52:21 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36014/37152
2025-04-24 14:52:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:22 [info] currentZPosition:0.0578
2025-04-24 14:52:23 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:23 [debug] Diagnostics for board 50:
2025-04-24 14:52:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:28 ago, cause: software
2025-04-24 14:52:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:23 [debug] Moves scheduled 33912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 128, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2229839887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:52:23 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16924, writes 0 timeouts 0
2025-04-24 14:52:23 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 337, adv 36346/37141
2025-04-24 14:52:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:23 [info] currentZPosition:0.0586
2025-04-24 14:52:24 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:24 [debug] Diagnostics for board 50:
2025-04-24 14:52:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:54:29 ago, cause: software
2025-04-24 14:52:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:24 [debug] Moves scheduled 33916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 118, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2228773480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:52:24 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17886, writes 0 timeouts 0
2025-04-24 14:52:24 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36047/37125
2025-04-24 14:52:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:24 [info] currentZPosition:0.0582
2025-04-24 14:52:26 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:26 [debug] Diagnostics for board 50:
2025-04-24 14:52:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,73.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.5%
Owned mutexes:
Last reset 04:54:30 ago, cause: software
2025-04-24 14:52:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:26 [debug] Moves scheduled 33920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=597, max=15000
Sync err accum 100, peak jitter -4/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2227738644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:52:26 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17321, writes 11 timeouts 1
2025-04-24 14:52:26 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36322/37133
2025-04-24 14:52:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:26 [info] currentZPosition:0.0572
2025-04-24 14:52:27 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:27 [debug] Diagnostics for board 50:
2025-04-24 14:52:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.4%
Owned mutexes:
Last reset 04:54:32 ago, cause: software
2025-04-24 14:52:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:27 [debug] Moves scheduled 33924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2226703745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:52:27 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17370, writes 0 timeouts 0
2025-04-24 14:52:27 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36007/37167
2025-04-24 14:52:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:27 [info] currentZPosition:0.0583
2025-04-24 14:52:28 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:28 [debug] Diagnostics for board 50:
2025-04-24 14:52:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:33 ago, cause: software
2025-04-24 14:52:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:28 [debug] Moves scheduled 33928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2225656797 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:52:28 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17547, writes 0 timeouts 0
2025-04-24 14:52:28 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36304/37103
2025-04-24 14:52:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:28 [info] currentZPosition:0.0571
2025-04-24 14:52:29 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:30 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:30 [debug] Diagnostics for board 50:
2025-04-24 14:52:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:35 ago, cause: software
2025-04-24 14:52:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:30 [debug] Moves scheduled 33934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2224390198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:30 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21279, writes 0 timeouts 0
2025-04-24 14:52:30 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36066/37124
2025-04-24 14:52:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:30 [info] currentZPosition:0.0582
2025-04-24 14:52:31 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:31 [debug] Diagnostics for board 50:
2025-04-24 14:52:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:36 ago, cause: software
2025-04-24 14:52:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:31 [debug] Moves scheduled 33938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2223377515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:52:31 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16981, writes 0 timeouts 0
2025-04-24 14:52:31 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36383/37165
2025-04-24 14:52:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:31 [info] currentZPosition:0.0588
2025-04-24 14:52:33 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:33 [debug] Diagnostics for board 50:
2025-04-24 14:52:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:38 ago, cause: software
2025-04-24 14:52:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:33 [debug] Moves scheduled 33942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter 2/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2222291193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:52:33 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18216, writes 0 timeouts 0
2025-04-24 14:52:33 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36027/37120
2025-04-24 14:52:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:33 [info] currentZPosition:0.0573
2025-04-24 14:52:33 [debug] Stopped at height 0.056 mm
2025-04-24 14:52:34 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:34 [debug] Diagnostics for board 50:
2025-04-24 14:52:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:39 ago, cause: software
2025-04-24 14:52:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:34 [debug] Moves scheduled 33948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 100, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2221055057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:52:34 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20752, writes 0 timeouts 0
2025-04-24 14:52:34 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36334/37112
2025-04-24 14:52:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8940, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:35 [info] currentZPosition:0.0592
2025-04-24 14:52:35 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:36 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:36 [debug] Diagnostics for board 50:
2025-04-24 14:52:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:41 ago, cause: software
2025-04-24 14:52:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:36 [debug] Moves scheduled 33954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 109, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2219736786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:52:36 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22122, writes 0 timeouts 0
2025-04-24 14:52:36 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36055/37125
2025-04-24 14:52:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:36 [info] currentZPosition:0.0579
2025-04-24 14:52:38 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:38 [debug] Diagnostics for board 50:
2025-04-24 14:52:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:42 ago, cause: software
2025-04-24 14:52:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:38 [debug] Moves scheduled 33958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2218717878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:38 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17131, writes 0 timeouts 0
2025-04-24 14:52:38 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36376/37117
2025-04-24 14:52:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:38 [info] currentZPosition:0.0582
2025-04-24 14:52:39 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:39 [debug] Diagnostics for board 50:
2025-04-24 14:52:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:44 ago, cause: software
2025-04-24 14:52:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:39 [debug] Moves scheduled 33962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2217671585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:52:39 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17541, writes 0 timeouts 0
2025-04-24 14:52:39 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36034/37081
2025-04-24 14:52:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8964, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:39 [info] currentZPosition:0.0587
2025-04-24 14:52:40 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:40 [debug] Diagnostics for board 50:
2025-04-24 14:52:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:45 ago, cause: software
2025-04-24 14:52:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:40 [debug] Moves scheduled 33966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2216637245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:52:40 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17355, writes 0 timeouts 0
2025-04-24 14:52:40 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36325/37149
2025-04-24 14:52:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:40 [info] currentZPosition:0.0582
2025-04-24 14:52:42 [debug] Stopped at height 0.060 mm
2025-04-24 14:52:42 [debug] Diagnostics for board 50:
2025-04-24 14:52:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:47 ago, cause: software
2025-04-24 14:52:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:42 [debug] Moves scheduled 33970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 105, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2215607459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:52:42 [debug] Driver 0: pos -3487, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17317, writes 0 timeouts 0
2025-04-24 14:52:42 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36018/37156
2025-04-24 14:52:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:42 [info] currentZPosition:0.0595
2025-04-24 14:52:42 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:43 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:43 [debug] Diagnostics for board 50:
2025-04-24 14:52:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:48 ago, cause: software
2025-04-24 14:52:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:43 [debug] Moves scheduled 33976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2214346175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:43 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21137, writes 0 timeouts 0
2025-04-24 14:52:43 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36349/37109
2025-04-24 14:52:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:44 [info] currentZPosition:0.0591
2025-04-24 14:52:45 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:45 [debug] Diagnostics for board 50:
2025-04-24 14:52:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:50 ago, cause: software
2025-04-24 14:52:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:45 [debug] Moves scheduled 33980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2213273206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:52:45 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18016, writes 0 timeouts 0
2025-04-24 14:52:45 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 425, adv 36031/37090
2025-04-24 14:52:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:45 [info] currentZPosition:0.0583
2025-04-24 14:52:46 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:46 [debug] Diagnostics for board 50:
2025-04-24 14:52:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:51 ago, cause: software
2025-04-24 14:52:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:46 [debug] Moves scheduled 33984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter -2/-2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2212250951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.2C, max
2025-04-24 14:52:46 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17181, writes 0 timeouts 0
2025-04-24 14:52:46 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36336/37124
2025-04-24 14:52:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:46 [info] currentZPosition:0.0584
2025-04-24 14:52:48 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:48 [debug] Diagnostics for board 50:
2025-04-24 14:52:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:53 ago, cause: software
2025-04-24 14:52:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:48 [debug] Moves scheduled 33988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2211189549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:52:48 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17774, writes 0 timeouts 0
2025-04-24 14:52:48 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36035/37122
2025-04-24 14:52:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:48 [info] currentZPosition:0.0582
2025-04-24 14:52:49 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:49 [debug] Diagnostics for board 50:
2025-04-24 14:52:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:54 ago, cause: software
2025-04-24 14:52:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:49 [debug] Moves scheduled 33992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 76, peak jitter 0/4, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2210176710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:52:49 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16998, writes 0 timeouts 0
2025-04-24 14:52:49 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36344/37119
2025-04-24 14:52:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:49 [info] currentZPosition:0.0587
2025-04-24 14:52:50 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:50 [debug] Diagnostics for board 50:
2025-04-24 14:52:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:54:55 ago, cause: software
2025-04-24 14:52:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:50 [debug] Moves scheduled 33996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2209085511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:52:50 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18336, writes 0 timeouts 0
2025-04-24 14:52:50 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36058/37108
2025-04-24 14:52:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:51 [info] currentZPosition:0.0571
2025-04-24 14:52:51 [debug] Stopped at height 0.055 mm
2025-04-24 14:52:52 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:52 [debug] Diagnostics for board 50:
2025-04-24 14:52:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:54:57 ago, cause: software
2025-04-24 14:52:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:52 [debug] Moves scheduled 34002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 225, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 101, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2207821424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:52 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21188, writes 0 timeouts 0
2025-04-24 14:52:52 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36350/37097
2025-04-24 14:52:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:52 [info] currentZPosition:0.0574
2025-04-24 14:52:53 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:53 [debug] Diagnostics for board 50:
2025-04-24 14:52:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:54:58 ago, cause: software
2025-04-24 14:52:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:53 [debug] Moves scheduled 34006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2206800607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:53 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17130, writes 0 timeouts 0
2025-04-24 14:52:53 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36035/37116
2025-04-24 14:52:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:54 [info] currentZPosition:0.0591
2025-04-24 14:52:54 [debug] Stopped at height 0.057 mm
2025-04-24 14:52:55 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:55 [debug] Diagnostics for board 50:
2025-04-24 14:52:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:00 ago, cause: software
2025-04-24 14:52:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:55 [debug] Moves scheduled 34012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2205518594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:52:55 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21528, writes 0 timeouts 0
2025-04-24 14:52:55 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36221/37169
2025-04-24 14:52:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:55 [info] currentZPosition:0.0577
2025-04-24 14:52:57 [debug] Stopped at height 0.058 mm
2025-04-24 14:52:57 [debug] Diagnostics for board 50:
2025-04-24 14:52:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:55:01 ago, cause: software
2025-04-24 14:52:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:57 [debug] Moves scheduled 34016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2204472382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:52:57 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17533, writes 0 timeouts 0
2025-04-24 14:52:57 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36007/37133
2025-04-24 14:52:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:57 [info] currentZPosition:0.0582
2025-04-24 14:52:58 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:58 [debug] Diagnostics for board 50:
2025-04-24 14:52:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:03 ago, cause: software
2025-04-24 14:52:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:58 [debug] Moves scheduled 34020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2203464815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:52:58 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16904, writes 0 timeouts 0
2025-04-24 14:52:58 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36080/37124
2025-04-24 14:52:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:58 [info] currentZPosition:0.0591
2025-04-24 14:52:59 [debug] Stopped at height 0.059 mm
2025-04-24 14:52:59 [debug] Diagnostics for board 50:
2025-04-24 14:52:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:52:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:55:04 ago, cause: software
2025-04-24 14:52:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:52:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:52:59 [debug] Moves scheduled 34024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 103, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2202402357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 14:52:59 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17854, writes 0 timeouts 0
2025-04-24 14:52:59 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36018/37104
2025-04-24 14:52:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:52:59 [info] currentZPosition:0.0588
2025-04-24 14:53:01 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:01 [debug] Diagnostics for board 50:
2025-04-24 14:53:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:55:06 ago, cause: software
2025-04-24 14:53:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:01 [debug] Moves scheduled 34028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2201389312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:53:01 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16975, writes 0 timeouts 0
2025-04-24 14:53:01 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36111/37120
2025-04-24 14:53:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:01 [info] currentZPosition:0.0593
2025-04-24 14:53:02 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:02 [debug] Diagnostics for board 50:
2025-04-24 14:53:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:07 ago, cause: software
2025-04-24 14:53:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:02 [debug] Moves scheduled 34032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2200322857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:53:02 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17880, writes 0 timeouts 0
2025-04-24 14:53:02 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36007/37142
2025-04-24 14:53:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:02 [info] currentZPosition:0.0588
2025-04-24 14:53:03 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:03 [debug] Diagnostics for board 50:
2025-04-24 14:53:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:08 ago, cause: software
2025-04-24 14:53:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:03 [debug] Moves scheduled 34036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2199294398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:53:03 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17310, writes 0 timeouts 0
2025-04-24 14:53:03 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36110/37147
2025-04-24 14:53:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:04 [info] currentZPosition:0.0583
2025-04-24 14:53:05 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:05 [debug] Diagnostics for board 50:
2025-04-24 14:53:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:10 ago, cause: software
2025-04-24 14:53:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:05 [debug] Moves scheduled 34040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2198225846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:53:05 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17906, writes 0 timeouts 0
2025-04-24 14:53:05 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36058/37116
2025-04-24 14:53:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:05 [info] currentZPosition:0.0578
2025-04-24 14:53:06 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:06 [debug] Diagnostics for board 50:
2025-04-24 14:53:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:11 ago, cause: software
2025-04-24 14:53:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:06 [debug] Moves scheduled 34044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15306
Sync err accum 66, peak jitter -1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2197228597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:53:06 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16741, writes 0 timeouts 0
2025-04-24 14:53:06 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36119/37140
2025-04-24 14:53:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8941, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:06 [info] currentZPosition:0.0594
2025-04-24 14:53:07 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:08 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:08 [debug] Diagnostics for board 50:
2025-04-24 14:53:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:55:13 ago, cause: software
2025-04-24 14:53:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:08 [debug] Moves scheduled 34050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2195937202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:53:08 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21679, writes 0 timeouts 0
2025-04-24 14:53:08 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36079/37100
2025-04-24 14:53:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:08 [info] currentZPosition:0.0595
2025-04-24 14:53:09 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:09 [debug] Diagnostics for board 50:
2025-04-24 14:53:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:14 ago, cause: software
2025-04-24 14:53:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:09 [debug] Moves scheduled 34054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2194909221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:53:09 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17240, writes 0 timeouts 0
2025-04-24 14:53:09 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36122/37100
2025-04-24 14:53:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:09 [info] currentZPosition:0.0591
2025-04-24 14:53:11 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:11 [debug] Diagnostics for board 50:
2025-04-24 14:53:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:16 ago, cause: software
2025-04-24 14:53:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:11 [debug] Moves scheduled 34058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 103, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2193839721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:53:11 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17937, writes 0 timeouts 0
2025-04-24 14:53:11 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36046/37112
2025-04-24 14:53:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:11 [info] currentZPosition:0.0584
2025-04-24 14:53:12 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:12 [debug] Diagnostics for board 50:
2025-04-24 14:53:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:55:17 ago, cause: software
2025-04-24 14:53:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:12 [debug] Moves scheduled 34062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2192816810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:53:12 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17167, writes 0 timeouts 0
2025-04-24 14:53:12 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36107/37089
2025-04-24 14:53:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:12 [info] currentZPosition:0.0583
2025-04-24 14:53:14 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:14 [debug] Diagnostics for board 50:
2025-04-24 14:53:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:18 ago, cause: software
2025-04-24 14:53:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:14 [debug] Moves scheduled 34066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2191768986 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:53:14 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17587, writes 0 timeouts 0
2025-04-24 14:53:14 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36017/37092
2025-04-24 14:53:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:14 [info] currentZPosition:0.0587
2025-04-24 14:53:15 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:15 [debug] Diagnostics for board 50:
2025-04-24 14:53:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:20 ago, cause: software
2025-04-24 14:53:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:15 [debug] Moves scheduled 34070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2190741594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:53:15 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17239, writes 0 timeouts 0
2025-04-24 14:53:15 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36076/37168
2025-04-24 14:53:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:15 [info] currentZPosition:0.0587
2025-04-24 14:53:16 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:16 [debug] Diagnostics for board 50:
2025-04-24 14:53:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:21 ago, cause: software
2025-04-24 14:53:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:16 [debug] Moves scheduled 34074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2189658715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:53:16 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18166, writes 0 timeouts 0
2025-04-24 14:53:16 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36003/37165
2025-04-24 14:53:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:16 [info] currentZPosition:0.0576
2025-04-24 14:53:18 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:18 [debug] Diagnostics for board 50:
2025-04-24 14:53:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:23 ago, cause: software
2025-04-24 14:53:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:18 [debug] Moves scheduled 34078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 104, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2188658012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:53:18 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16789, writes 0 timeouts 0
2025-04-24 14:53:18 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36075/37117
2025-04-24 14:53:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:18 [info] currentZPosition:0.0585
2025-04-24 14:53:19 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:19 [debug] Diagnostics for board 50:
2025-04-24 14:53:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:24 ago, cause: software
2025-04-24 14:53:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:19 [debug] Moves scheduled 34082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 98, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2187615711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:53:19 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17510, writes 0 timeouts 0
2025-04-24 14:53:19 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36058/37118
2025-04-24 14:53:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:19 [info] currentZPosition:0.0592
2025-04-24 14:53:20 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:20 [debug] Diagnostics for board 50:
2025-04-24 14:53:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:25 ago, cause: software
2025-04-24 14:53:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:20 [debug] Moves scheduled 34086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 85, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2186596483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:53:20 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17095, writes 0 timeouts 0
2025-04-24 14:53:20 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36096/37151
2025-04-24 14:53:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8961, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:21 [info] currentZPosition:0.0594
2025-04-24 14:53:22 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:22 [debug] Diagnostics for board 50:
2025-04-24 14:53:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:27 ago, cause: software
2025-04-24 14:53:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:22 [debug] Moves scheduled 34090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 72, peak jitter -3/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2185533145 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:53:22 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17840, writes 0 timeouts 0
2025-04-24 14:53:22 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36004/37161
2025-04-24 14:53:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:22 [info] currentZPosition:0.0589
2025-04-24 14:53:23 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:23 [debug] Diagnostics for board 50:
2025-04-24 14:53:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:28 ago, cause: software
2025-04-24 14:53:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:23 [debug] Moves scheduled 34094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2184512158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:53:23 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17209, writes 0 timeouts 0
2025-04-24 14:53:23 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36084/37115
2025-04-24 14:53:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:23 [info] currentZPosition:0.0589
2025-04-24 14:53:25 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:25 [debug] Diagnostics for board 50:
2025-04-24 14:53:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:29 ago, cause: software
2025-04-24 14:53:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:25 [debug] Moves scheduled 34098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2183463320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:53:25 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17530, writes 0 timeouts 0
2025-04-24 14:53:25 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36048/37096
2025-04-24 14:53:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:25 [info] currentZPosition:0.0595
2025-04-24 14:53:26 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:26 [debug] Diagnostics for board 50:
2025-04-24 14:53:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:31 ago, cause: software
2025-04-24 14:53:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:26 [debug] Moves scheduled 34102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2182445447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:53:26 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17090, writes 0 timeouts 0
2025-04-24 14:53:26 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36067/37167
2025-04-24 14:53:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:26 [info] currentZPosition:0.0597
2025-04-24 14:53:27 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:27 [debug] Diagnostics for board 50:
2025-04-24 14:53:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:32 ago, cause: software
2025-04-24 14:53:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:27 [debug] Moves scheduled 34106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2181374940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:53:27 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17946, writes 0 timeouts 0
2025-04-24 14:53:27 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36002/37134
2025-04-24 14:53:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:27 [info] currentZPosition:0.0590
2025-04-24 14:53:29 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:29 [debug] Diagnostics for board 50:
2025-04-24 14:53:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:55:34 ago, cause: software
2025-04-24 14:53:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:29 [debug] Moves scheduled 34110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2180364138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:53:29 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16953, writes 0 timeouts 0
2025-04-24 14:53:29 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36099/37122
2025-04-24 14:53:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:29 [info] currentZPosition:0.0596
2025-04-24 14:53:30 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:30 [debug] Diagnostics for board 50:
2025-04-24 14:53:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:35 ago, cause: software
2025-04-24 14:53:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:30 [debug] Moves scheduled 34114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10714, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2179288481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:53:30 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18043, writes 0 timeouts 0
2025-04-24 14:53:30 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36016/37096
2025-04-24 14:53:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:30 [info] currentZPosition:0.0587
2025-04-24 14:53:32 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:32 [debug] Diagnostics for board 50:
2025-04-24 14:53:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:55:36 ago, cause: software
2025-04-24 14:53:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:32 [debug] Moves scheduled 34118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2178257141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:53:32 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17308, writes 0 timeouts 0
2025-04-24 14:53:32 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36075/37171
2025-04-24 14:53:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:32 [info] currentZPosition:0.0585
2025-04-24 14:53:33 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:33 [debug] Diagnostics for board 50:
2025-04-24 14:53:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 04:55:38 ago, cause: software
2025-04-24 14:53:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:33 [debug] Moves scheduled 34122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2177195577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:53:33 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17830, writes 0 timeouts 0
2025-04-24 14:53:33 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36069/37135
2025-04-24 14:53:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:33 [info] currentZPosition:0.0583
2025-04-24 14:53:34 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:34 [debug] Diagnostics for board 50:
2025-04-24 14:53:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:39 ago, cause: software
2025-04-24 14:53:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:34 [debug] Moves scheduled 34126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2176177140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:53:34 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17069, writes 0 timeouts 0
2025-04-24 14:53:34 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36134/37125
2025-04-24 14:53:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:34 [info] currentZPosition:0.0585
2025-04-24 14:53:36 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:36 [debug] Diagnostics for board 50:
2025-04-24 14:53:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:41 ago, cause: software
2025-04-24 14:53:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:36 [debug] Moves scheduled 34130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2175126520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:53:36 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17620, writes 0 timeouts 0
2025-04-24 14:53:36 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36044/37141
2025-04-24 14:53:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:36 [info] currentZPosition:0.0589
2025-04-24 14:53:37 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:37 [debug] Diagnostics for board 50:
2025-04-24 14:53:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:55:42 ago, cause: software
2025-04-24 14:53:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:37 [debug] Moves scheduled 34134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -1/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2174091834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:53:37 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17365, writes 0 timeouts 0
2025-04-24 14:53:37 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36092/37138
2025-04-24 14:53:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:37 [info] currentZPosition:0.0582
2025-04-24 14:53:38 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:38 [debug] Diagnostics for board 50:
2025-04-24 14:53:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:43 ago, cause: software
2025-04-24 14:53:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:38 [debug] Moves scheduled 34138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2173056222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:53:38 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17374, writes 0 timeouts 0
2025-04-24 14:53:38 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36021/37155
2025-04-24 14:53:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:39 [info] currentZPosition:0.0593
2025-04-24 14:53:40 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:40 [debug] Diagnostics for board 50:
2025-04-24 14:53:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:45 ago, cause: software
2025-04-24 14:53:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:40 [debug] Moves scheduled 34142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2172047283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:53:40 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16921, writes 0 timeouts 0
2025-04-24 14:53:40 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36140/37091
2025-04-24 14:53:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:40 [info] currentZPosition:0.0600
2025-04-24 14:53:41 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:41 [debug] Diagnostics for board 50:
2025-04-24 14:53:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:46 ago, cause: software
2025-04-24 14:53:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:41 [debug] Moves scheduled 34146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2170986509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:53:41 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17803, writes 0 timeouts 0
2025-04-24 14:53:41 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36013/37144
2025-04-24 14:53:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:41 [info] currentZPosition:0.0600
2025-04-24 14:53:43 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:43 [debug] Diagnostics for board 50:
2025-04-24 14:53:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:48 ago, cause: software
2025-04-24 14:53:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:43 [debug] Moves scheduled 34150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2169924887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:53:43 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17814, writes 0 timeouts 0
2025-04-24 14:53:43 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36097/37142
2025-04-24 14:53:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:43 [info] currentZPosition:0.0579
2025-04-24 14:53:43 [debug] Stopped at height 0.057 mm
2025-04-24 14:53:44 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:44 [debug] Diagnostics for board 50:
2025-04-24 14:53:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:55:49 ago, cause: software
2025-04-24 14:53:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:44 [debug] Moves scheduled 34156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2168668996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:53:44 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21081, writes 0 timeouts 0
2025-04-24 14:53:44 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36028/37157
2025-04-24 14:53:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:44 [info] currentZPosition:0.0599
2025-04-24 14:53:45 [debug] Stopped at height 0.058 mm
2025-04-24 14:53:46 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:46 [debug] Diagnostics for board 50:
2025-04-24 14:53:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:51 ago, cause: software
2025-04-24 14:53:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:46 [debug] Moves scheduled 34162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2167397280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:53:46 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21331, writes 0 timeouts 0
2025-04-24 14:53:46 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36079/37122
2025-04-24 14:53:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:46 [info] currentZPosition:0.0589
2025-04-24 14:53:47 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:47 [debug] Diagnostics for board 50:
2025-04-24 14:53:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:52 ago, cause: software
2025-04-24 14:53:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:47 [debug] Moves scheduled 34166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2166314024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:53:47 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18187, writes 0 timeouts 0
2025-04-24 14:53:47 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36044/37087
2025-04-24 14:53:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:48 [info] currentZPosition:0.0597
2025-04-24 14:53:49 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:49 [debug] Diagnostics for board 50:
2025-04-24 14:53:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:54 ago, cause: software
2025-04-24 14:53:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:49 [debug] Moves scheduled 34170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter 0/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2165278785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:53:49 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17359, writes 0 timeouts 0
2025-04-24 14:53:49 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36258/37150
2025-04-24 14:53:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:49 [info] currentZPosition:0.0592
2025-04-24 14:53:50 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:50 [debug] Diagnostics for board 50:
2025-04-24 14:53:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:55 ago, cause: software
2025-04-24 14:53:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:50 [debug] Moves scheduled 34174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2164227784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:53:50 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17634, writes 0 timeouts 0
2025-04-24 14:53:50 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36059/37124
2025-04-24 14:53:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:50 [info] currentZPosition:0.0595
2025-04-24 14:53:52 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:52 [debug] Diagnostics for board 50:
2025-04-24 14:53:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:56 ago, cause: software
2025-04-24 14:53:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:52 [debug] Moves scheduled 34178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 170, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 2163204716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:53:52 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17164, writes 0 timeouts 0
2025-04-24 14:53:52 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36326/37167
2025-04-24 14:53:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:52 [info] currentZPosition:0.0593
2025-04-24 14:53:53 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:53 [debug] Diagnostics for board 50:
2025-04-24 14:53:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:55:58 ago, cause: software
2025-04-24 14:53:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:53 [debug] Moves scheduled 34182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2162147518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:53:53 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17750, writes 0 timeouts 0
2025-04-24 14:53:53 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36017/37167
2025-04-24 14:53:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:53 [info] currentZPosition:0.0592
2025-04-24 14:53:54 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:54 [debug] Diagnostics for board 50:
2025-04-24 14:53:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:55:59 ago, cause: software
2025-04-24 14:53:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:54 [debug] Moves scheduled 34186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2161121630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:53:54 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17202, writes 0 timeouts 0
2025-04-24 14:53:54 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36321/37107
2025-04-24 14:53:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:54 [info] currentZPosition:0.0590
2025-04-24 14:53:56 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:56 [debug] Diagnostics for board 50:
2025-04-24 14:53:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:01 ago, cause: software
2025-04-24 14:53:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:56 [debug] Moves scheduled 34190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 87, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2160069258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:53:56 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17661, writes 0 timeouts 0
2025-04-24 14:53:56 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36025/37105
2025-04-24 14:53:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:56 [info] currentZPosition:0.0593
2025-04-24 14:53:57 [debug] Stopped at height 0.060 mm
2025-04-24 14:53:57 [debug] Diagnostics for board 50:
2025-04-24 14:53:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:02 ago, cause: software
2025-04-24 14:53:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:57 [debug] Moves scheduled 34194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2159057627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:53:57 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16985, writes 0 timeouts 0
2025-04-24 14:53:57 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36343/37170
2025-04-24 14:53:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:57 [info] currentZPosition:0.0600
2025-04-24 14:53:59 [debug] Stopped at height 0.059 mm
2025-04-24 14:53:59 [debug] Diagnostics for board 50:
2025-04-24 14:53:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:53:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:03 ago, cause: software
2025-04-24 14:53:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:53:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:53:59 [debug] Moves scheduled 34198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2157984240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:53:59 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17996, writes 0 timeouts 0
2025-04-24 14:53:59 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36054/37160
2025-04-24 14:53:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:53:59 [info] currentZPosition:0.0591
2025-04-24 14:54:00 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:00 [debug] Diagnostics for board 50:
2025-04-24 14:54:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:05 ago, cause: software
2025-04-24 14:54:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:00 [debug] Moves scheduled 34202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2156971063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:00 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17033, writes 0 timeouts 0
2025-04-24 14:54:00 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36331/37122
2025-04-24 14:54:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:00 [info] currentZPosition:0.0597
2025-04-24 14:54:01 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:01 [debug] Diagnostics for board 50:
2025-04-24 14:54:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:06 ago, cause: software
2025-04-24 14:54:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:01 [debug] Moves scheduled 34206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 104, peak jitter 0/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2155909931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:01 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17787, writes 0 timeouts 0
2025-04-24 14:54:01 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36052/37156
2025-04-24 14:54:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:01 [info] currentZPosition:0.0596
2025-04-24 14:54:03 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:03 [debug] Diagnostics for board 50:
2025-04-24 14:54:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:08 ago, cause: software
2025-04-24 14:54:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:03 [debug] Moves scheduled 34210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 105, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2154894767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:54:03 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17055, writes 0 timeouts 0
2025-04-24 14:54:03 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36317/37136
2025-04-24 14:54:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:03 [info] currentZPosition:0.0600
2025-04-24 14:54:04 [debug] Stopped at height 0.059 mm
2025-04-24 14:54:04 [debug] Diagnostics for board 50:
2025-04-24 14:54:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:09 ago, cause: software
2025-04-24 14:54:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:04 [debug] Moves scheduled 34214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 98, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2153820066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:04 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18035, writes 0 timeouts 0
2025-04-24 14:54:04 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36059/37140
2025-04-24 14:54:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:04 [info] currentZPosition:0.0590
2025-04-24 14:54:05 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:05 [debug] Diagnostics for board 50:
2025-04-24 14:54:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:10 ago, cause: software
2025-04-24 14:54:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:05 [debug] Moves scheduled 34218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2152808319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:05 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16951, writes 0 timeouts 0
2025-04-24 14:54:05 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36350/37150
2025-04-24 14:54:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:06 [info] currentZPosition:0.0596
2025-04-24 14:54:07 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:07 [debug] Diagnostics for board 50:
2025-04-24 14:54:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:12 ago, cause: software
2025-04-24 14:54:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:07 [debug] Moves scheduled 34222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 78, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2151754397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:07 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17685, writes 0 timeouts 0
2025-04-24 14:54:07 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36039/37122
2025-04-24 14:54:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:07 [info] currentZPosition:0.0597
2025-04-24 14:54:08 [debug] Stopped at height 0.059 mm
2025-04-24 14:54:08 [debug] Diagnostics for board 50:
2025-04-24 14:54:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:13 ago, cause: software
2025-04-24 14:54:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:08 [debug] Moves scheduled 34226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2150718833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:08 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17405, writes 0 timeouts 0
2025-04-24 14:54:08 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36305/37174
2025-04-24 14:54:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:08 [info] currentZPosition:0.0590
2025-04-24 14:54:10 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:10 [debug] Diagnostics for board 50:
2025-04-24 14:54:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:15 ago, cause: software
2025-04-24 14:54:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:10 [debug] Moves scheduled 34230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2149677640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:54:10 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17438, writes 0 timeouts 0
2025-04-24 14:54:10 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36014/37162
2025-04-24 14:54:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:10 [info] currentZPosition:0.0600
2025-04-24 14:54:11 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:11 [debug] Diagnostics for board 50:
2025-04-24 14:54:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:16 ago, cause: software
2025-04-24 14:54:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:11 [debug] Moves scheduled 34234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2148663140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:54:11 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17075, writes 0 timeouts 0
2025-04-24 14:54:11 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36319/37120
2025-04-24 14:54:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8959, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:11 [info] currentZPosition:0.0605
2025-04-24 14:54:12 [debug] Stopped at height 0.059 mm
2025-04-24 14:54:12 [debug] Diagnostics for board 50:
2025-04-24 14:54:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:17 ago, cause: software
2025-04-24 14:54:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:12 [debug] Moves scheduled 34238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2147578173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:54:12 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18182, writes 0 timeouts 0
2025-04-24 14:54:12 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36050/37146
2025-04-24 14:54:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:13 [info] currentZPosition:0.0591
2025-04-24 14:54:13 [debug] Stopped at height 0.059 mm
2025-04-24 14:54:14 [debug] Stopped at height 0.059 mm
2025-04-24 14:54:14 [debug] Diagnostics for board 50:
2025-04-24 14:54:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:19 ago, cause: software
2025-04-24 14:54:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:14 [debug] Moves scheduled 34244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2146322846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:14 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21020, writes 0 timeouts 0
2025-04-24 14:54:14 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36304/37151
2025-04-24 14:54:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:14 [info] currentZPosition:0.0594
2025-04-24 14:54:16 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:16 [debug] Diagnostics for board 50:
2025-04-24 14:54:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:20 ago, cause: software
2025-04-24 14:54:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:16 [debug] Moves scheduled 34248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 107, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2145275969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:16 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17563, writes 0 timeouts 0
2025-04-24 14:54:16 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36048/37135
2025-04-24 14:54:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:16 [info] currentZPosition:0.0598
2025-04-24 14:54:17 [debug] Stopped at height 0.059 mm
2025-04-24 14:54:17 [debug] Diagnostics for board 50:
2025-04-24 14:54:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:22 ago, cause: software
2025-04-24 14:54:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:17 [debug] Moves scheduled 34252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 111, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2144245014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:54:17 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17325, writes 0 timeouts 0
2025-04-24 14:54:17 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36344/37111
2025-04-24 14:54:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:17 [info] currentZPosition:0.0593
2025-04-24 14:54:18 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:18 [debug] Diagnostics for board 50:
2025-04-24 14:54:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:23 ago, cause: software
2025-04-24 14:54:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:18 [debug] Moves scheduled 34256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter 0/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2143202717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:18 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17472, writes 0 timeouts 0
2025-04-24 14:54:18 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36041/37106
2025-04-24 14:54:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:18 [info] currentZPosition:0.0600
2025-04-24 14:54:20 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:20 [debug] Diagnostics for board 50:
2025-04-24 14:54:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:25 ago, cause: software
2025-04-24 14:54:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:20 [debug] Moves scheduled 34260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2142183730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:54:20 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17109, writes 0 timeouts 0
2025-04-24 14:54:20 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36312/37146
2025-04-24 14:54:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:20 [info] currentZPosition:0.0602
2025-04-24 14:54:21 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:21 [debug] Diagnostics for board 50:
2025-04-24 14:54:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:26 ago, cause: software
2025-04-24 14:54:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:21 [debug] Moves scheduled 34264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2141135418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:21 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17620, writes 0 timeouts 0
2025-04-24 14:54:21 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36001/37104
2025-04-24 14:54:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:21 [info] currentZPosition:0.0606
2025-04-24 14:54:22 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:22 [debug] Diagnostics for board 50:
2025-04-24 14:54:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:27 ago, cause: software
2025-04-24 14:54:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:22 [debug] Moves scheduled 34268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2140100436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:22 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17345, writes 0 timeouts 0
2025-04-24 14:54:22 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 36348/37130
2025-04-24 14:54:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8965, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:23 [info] currentZPosition:0.0601
2025-04-24 14:54:24 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:24 [debug] Diagnostics for board 50:
2025-04-24 14:54:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:29 ago, cause: software
2025-04-24 14:54:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:24 [debug] Moves scheduled 34272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2139045331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:54:24 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17691, writes 0 timeouts 0
2025-04-24 14:54:24 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36055/37118
2025-04-24 14:54:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:24 [info] currentZPosition:0.0603
2025-04-24 14:54:25 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:25 [debug] Diagnostics for board 50:
2025-04-24 14:54:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:30 ago, cause: software
2025-04-24 14:54:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:25 [debug] Moves scheduled 34276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -2/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2138022788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:54:25 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17185, writes 0 timeouts 0
2025-04-24 14:54:25 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36318/37127
2025-04-24 14:54:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:25 [info] currentZPosition:0.0600
2025-04-24 14:54:27 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:27 [debug] Diagnostics for board 50:
2025-04-24 14:54:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:31 ago, cause: software
2025-04-24 14:54:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:27 [debug] Moves scheduled 34280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2136962853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:54:27 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17756, writes 0 timeouts 0
2025-04-24 14:54:27 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36029/37122
2025-04-24 14:54:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:27 [info] currentZPosition:0.0599
2025-04-24 14:54:28 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:28 [debug] Diagnostics for board 50:
2025-04-24 14:54:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:33 ago, cause: software
2025-04-24 14:54:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:28 [debug] Moves scheduled 34284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2135930467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:28 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17333, writes 0 timeouts 0
2025-04-24 14:54:28 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36294/37135
2025-04-24 14:54:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:28 [info] currentZPosition:0.0596
2025-04-24 14:54:29 [debug] Stopped at height 0.059 mm
2025-04-24 14:54:29 [debug] Diagnostics for board 50:
2025-04-24 14:54:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:34 ago, cause: software
2025-04-24 14:54:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:29 [debug] Moves scheduled 34288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2134872993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:54:29 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17781, writes 0 timeouts 0
2025-04-24 14:54:29 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36010/37097
2025-04-24 14:54:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:29 [info] currentZPosition:0.0594
2025-04-24 14:54:31 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:31 [debug] Diagnostics for board 50:
2025-04-24 14:54:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:56:36 ago, cause: software
2025-04-24 14:54:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:31 [debug] Moves scheduled 34292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2133867740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:54:31 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16824, writes 0 timeouts 0
2025-04-24 14:54:31 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36311/37152
2025-04-24 14:54:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:31 [info] currentZPosition:0.0607
2025-04-24 14:54:31 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:32 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:32 [debug] Diagnostics for board 50:
2025-04-24 14:54:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:56:37 ago, cause: software
2025-04-24 14:54:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:32 [debug] Moves scheduled 34298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2132570996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:32 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21786, writes 0 timeouts 0
2025-04-24 14:54:32 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36013/37153
2025-04-24 14:54:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:33 [info] currentZPosition:0.0603
2025-04-24 14:54:34 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:34 [debug] Diagnostics for board 50:
2025-04-24 14:54:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:39 ago, cause: software
2025-04-24 14:54:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:34 [debug] Moves scheduled 34302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2131552277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:34 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17090, writes 0 timeouts 0
2025-04-24 14:54:34 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36347/37107
2025-04-24 14:54:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:34 [info] currentZPosition:0.0608
2025-04-24 14:54:35 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:35 [debug] Diagnostics for board 50:
2025-04-24 14:54:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:40 ago, cause: software
2025-04-24 14:54:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:35 [debug] Moves scheduled 34306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 111, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2130503924 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:35 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17606, writes 0 timeouts 0
2025-04-24 14:54:35 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36013/37087
2025-04-24 14:54:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:35 [info] currentZPosition:0.0614
2025-04-24 14:54:37 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:37 [debug] Diagnostics for board 50:
2025-04-24 14:54:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:41 ago, cause: software
2025-04-24 14:54:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:37 [debug] Moves scheduled 34310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2129460542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:37 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17473, writes 0 timeouts 0
2025-04-24 14:54:37 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36315/37114
2025-04-24 14:54:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:37 [info] currentZPosition:0.0604
2025-04-24 14:54:38 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:38 [debug] Diagnostics for board 50:
2025-04-24 14:54:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:43 ago, cause: software
2025-04-24 14:54:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:38 [debug] Moves scheduled 34314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2128391359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:38 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17941, writes 0 timeouts 0
2025-04-24 14:54:38 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36052/37093
2025-04-24 14:54:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:38 [info] currentZPosition:0.0597
2025-04-24 14:54:39 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:39 [debug] Diagnostics for board 50:
2025-04-24 14:54:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:44 ago, cause: software
2025-04-24 14:54:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:39 [debug] Moves scheduled 34318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2127385680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:54:39 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16879, writes 0 timeouts 0
2025-04-24 14:54:39 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36320/37109
2025-04-24 14:54:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:39 [info] currentZPosition:0.0609
2025-04-24 14:54:41 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:41 [debug] Diagnostics for board 50:
2025-04-24 14:54:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:46 ago, cause: software
2025-04-24 14:54:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:41 [debug] Moves scheduled 34322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 99, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2126319450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:41 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17885, writes 0 timeouts 0
2025-04-24 14:54:41 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36005/37142
2025-04-24 14:54:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:41 [info] currentZPosition:0.0604
2025-04-24 14:54:42 [debug] Stopped at height 0.062 mm
2025-04-24 14:54:42 [debug] Diagnostics for board 50:
2025-04-24 14:54:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:47 ago, cause: software
2025-04-24 14:54:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:42 [debug] Moves scheduled 34326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2125316437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:54:42 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16834, writes 0 timeouts 0
2025-04-24 14:54:42 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36190/37097
2025-04-24 14:54:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:42 [info] currentZPosition:0.0615
2025-04-24 14:54:44 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:44 [debug] Diagnostics for board 50:
2025-04-24 14:54:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:48 ago, cause: software
2025-04-24 14:54:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:44 [debug] Moves scheduled 34330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2124250310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:44 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17884, writes 0 timeouts 0
2025-04-24 14:54:44 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36009/37117
2025-04-24 14:54:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:44 [info] currentZPosition:0.0610
2025-04-24 14:54:45 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:45 [debug] Diagnostics for board 50:
2025-04-24 14:54:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:50 ago, cause: software
2025-04-24 14:54:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:45 [debug] Moves scheduled 34334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2123212137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:54:45 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17416, writes 0 timeouts 0
2025-04-24 14:54:45 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36086/37083
2025-04-24 14:54:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:45 [info] currentZPosition:0.0602
2025-04-24 14:54:46 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:46 [debug] Diagnostics for board 50:
2025-04-24 14:54:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:51 ago, cause: software
2025-04-24 14:54:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:46 [debug] Moves scheduled 34338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2122168348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:46 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17531, writes 0 timeouts 0
2025-04-24 14:54:46 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36024/37092
2025-04-24 14:54:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:46 [info] currentZPosition:0.0611
2025-04-24 14:54:48 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:48 [debug] Diagnostics for board 50:
2025-04-24 14:54:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:56:53 ago, cause: software
2025-04-24 14:54:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:48 [debug] Moves scheduled 34342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2121136570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:54:48 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17313, writes 0 timeouts 0
2025-04-24 14:54:48 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36093/37108
2025-04-24 14:54:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:48 [info] currentZPosition:0.0605
2025-04-24 14:54:49 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:49 [debug] Diagnostics for board 50:
2025-04-24 14:54:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:54 ago, cause: software
2025-04-24 14:54:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:49 [debug] Moves scheduled 34346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2120094105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:54:49 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17492, writes 0 timeouts 0
2025-04-24 14:54:49 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36053/37112
2025-04-24 14:54:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:49 [info] currentZPosition:0.0614
2025-04-24 14:54:50 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:50 [debug] Diagnostics for board 50:
2025-04-24 14:54:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:56:55 ago, cause: software
2025-04-24 14:54:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:50 [debug] Moves scheduled 34350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2119065616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:50 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17249, writes 0 timeouts 0
2025-04-24 14:54:50 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36060/37109
2025-04-24 14:54:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:51 [info] currentZPosition:0.0611
2025-04-24 14:54:52 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:52 [debug] Diagnostics for board 50:
2025-04-24 14:54:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:57 ago, cause: software
2025-04-24 14:54:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:52 [debug] Moves scheduled 34354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 110, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2117993714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:54:52 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17992, writes 0 timeouts 0
2025-04-24 14:54:52 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36057/37120
2025-04-24 14:54:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:52 [info] currentZPosition:0.0605
2025-04-24 14:54:53 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:53 [debug] Diagnostics for board 50:
2025-04-24 14:54:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:56:58 ago, cause: software
2025-04-24 14:54:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:53 [debug] Moves scheduled 34358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2116980092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:53 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17002, writes 0 timeouts 0
2025-04-24 14:54:53 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 334, adv 36141/37157
2025-04-24 14:54:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:53 [info] currentZPosition:0.0609
2025-04-24 14:54:55 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:55 [debug] Diagnostics for board 50:
2025-04-24 14:54:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:57:00 ago, cause: software
2025-04-24 14:54:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:55 [debug] Moves scheduled 34362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 117, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2115926242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:54:55 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17701, writes 0 timeouts 0
2025-04-24 14:54:55 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36058/37092
2025-04-24 14:54:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:55 [info] currentZPosition:0.0611
2025-04-24 14:54:56 [debug] Stopped at height 0.060 mm
2025-04-24 14:54:56 [debug] Diagnostics for board 50:
2025-04-24 14:54:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:01 ago, cause: software
2025-04-24 14:54:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:56 [debug] Moves scheduled 34366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2114889926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:56 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17382, writes 0 timeouts 0
2025-04-24 14:54:56 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36115/37122
2025-04-24 14:54:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:56 [info] currentZPosition:0.0602
2025-04-24 14:54:57 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:57 [debug] Diagnostics for board 50:
2025-04-24 14:54:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:02 ago, cause: software
2025-04-24 14:54:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:57 [debug] Moves scheduled 34370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2113848929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:54:57 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17475, writes 0 timeouts 0
2025-04-24 14:54:57 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36046/37169
2025-04-24 14:54:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:58 [info] currentZPosition:0.0611
2025-04-24 14:54:59 [debug] Stopped at height 0.061 mm
2025-04-24 14:54:59 [debug] Diagnostics for board 50:
2025-04-24 14:54:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:54:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:04 ago, cause: software
2025-04-24 14:54:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:54:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:54:59 [debug] Moves scheduled 34374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2112816745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:54:59 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17313, writes 0 timeouts 0
2025-04-24 14:54:59 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36072/37109
2025-04-24 14:54:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:54:59 [info] currentZPosition:0.0605
2025-04-24 14:55:00 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:00 [debug] Diagnostics for board 50:
2025-04-24 14:55:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:05 ago, cause: software
2025-04-24 14:55:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:00 [debug] Moves scheduled 34378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 98, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2111763541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:55:00 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17674, writes 0 timeouts 0
2025-04-24 14:55:00 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36035/37143
2025-04-24 14:55:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:00 [info] currentZPosition:0.0607
2025-04-24 14:55:02 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:02 [debug] Diagnostics for board 50:
2025-04-24 14:55:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:06 ago, cause: software
2025-04-24 14:55:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:02 [debug] Moves scheduled 34382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2110727382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:55:02 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17383, writes 0 timeouts 0
2025-04-24 14:55:02 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36098/37098
2025-04-24 14:55:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:02 [info] currentZPosition:0.0600
2025-04-24 14:55:03 [debug] Stopped at height 0.059 mm
2025-04-24 14:55:03 [debug] Diagnostics for board 50:
2025-04-24 14:55:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:08 ago, cause: software
2025-04-24 14:55:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:03 [debug] Moves scheduled 34386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2109659115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:55:03 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17917, writes 0 timeouts 0
2025-04-24 14:55:03 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36007/37119
2025-04-24 14:55:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:03 [info] currentZPosition:0.0593
2025-04-24 14:55:04 [debug] Stopped at height 0.059 mm
2025-04-24 14:55:04 [debug] Diagnostics for board 50:
2025-04-24 14:55:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 04:57:09 ago, cause: software
2025-04-24 14:55:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:04 [debug] Moves scheduled 34390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2108641625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:55:04 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17075, writes 0 timeouts 0
2025-04-24 14:55:04 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36068/37144
2025-04-24 14:55:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:04 [info] currentZPosition:0.0594
2025-04-24 14:55:06 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:06 [debug] Diagnostics for board 50:
2025-04-24 14:55:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:11 ago, cause: software
2025-04-24 14:55:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:06 [debug] Moves scheduled 34394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 0/4, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2107587888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:55:06 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17683, writes 0 timeouts 0
2025-04-24 14:55:06 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36005/37130
2025-04-24 14:55:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:06 [info] currentZPosition:0.0597
2025-04-24 14:55:07 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:07 [debug] Diagnostics for board 50:
2025-04-24 14:55:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:12 ago, cause: software
2025-04-24 14:55:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:07 [debug] Moves scheduled 34398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2106592357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:55:07 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16721, writes 0 timeouts 0
2025-04-24 14:55:07 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36108/37115
2025-04-24 14:55:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:07 [info] currentZPosition:0.0611
2025-04-24 14:55:08 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:09 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:09 [debug] Diagnostics for board 50:
2025-04-24 14:55:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:14 ago, cause: software
2025-04-24 14:55:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:09 [debug] Moves scheduled 34404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2105293642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:55:09 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21774, writes 0 timeouts 0
2025-04-24 14:55:09 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36030/37148
2025-04-24 14:55:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:09 [info] currentZPosition:0.0608
2025-04-24 14:55:09 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:10 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:10 [debug] Diagnostics for board 50:
2025-04-24 14:55:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:57:15 ago, cause: software
2025-04-24 14:55:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:10 [debug] Moves scheduled 34410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8620, max=15000
Sync err accum 98, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2104064839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:55:10 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20624, writes 0 timeouts 0
2025-04-24 14:55:10 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36122/37166
2025-04-24 14:55:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8935, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:11 [info] currentZPosition:0.0622
2025-04-24 14:55:11 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:12 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:12 [debug] Diagnostics for board 50:
2025-04-24 14:55:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:17 ago, cause: software
2025-04-24 14:55:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:12 [debug] Moves scheduled 34416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 101, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2102749456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:55:12 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22062, writes 0 timeouts 0
2025-04-24 14:55:12 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36011/37122
2025-04-24 14:55:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:12 [info] currentZPosition:0.0608
2025-04-24 14:55:14 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:14 [debug] Diagnostics for board 50:
2025-04-24 14:55:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:18 ago, cause: software
2025-04-24 14:55:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:14 [debug] Moves scheduled 34420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2101715782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:55:14 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17341, writes 0 timeouts 0
2025-04-24 14:55:14 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36083/37143
2025-04-24 14:55:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:14 [info] currentZPosition:0.0601
2025-04-24 14:55:15 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:15 [debug] Diagnostics for board 50:
2025-04-24 14:55:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:20 ago, cause: software
2025-04-24 14:55:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:15 [debug] Moves scheduled 34424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2100677233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:15 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17438, writes 0 timeouts 0
2025-04-24 14:55:15 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36058/37134
2025-04-24 14:55:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:15 [info] currentZPosition:0.0614
2025-04-24 14:55:15 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:17 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:17 [debug] Diagnostics for board 50:
2025-04-24 14:55:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:22 ago, cause: software
2025-04-24 14:55:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:17 [debug] Moves scheduled 34430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2099422136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:17 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21067, writes 0 timeouts 0
2025-04-24 14:55:17 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36060/37134
2025-04-24 14:55:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:17 [info] currentZPosition:0.0615
2025-04-24 14:55:17 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:18 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:18 [debug] Diagnostics for board 50:
2025-04-24 14:55:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:23 ago, cause: software
2025-04-24 14:55:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:18 [debug] Moves scheduled 34436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2098129779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:18 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21703, writes 0 timeouts 0
2025-04-24 14:55:18 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36041/37167
2025-04-24 14:55:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:18 [info] currentZPosition:0.0615
2025-04-24 14:55:19 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:20 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:20 [debug] Diagnostics for board 50:
2025-04-24 14:55:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:25 ago, cause: software
2025-04-24 14:55:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:20 [debug] Moves scheduled 34442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2096850877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:55:20 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21421, writes 0 timeouts 0
2025-04-24 14:55:20 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 422, adv 36080/37125
2025-04-24 14:55:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:20 [info] currentZPosition:0.0602
2025-04-24 14:55:21 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:21 [debug] Diagnostics for board 50:
2025-04-24 14:55:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:57:26 ago, cause: software
2025-04-24 14:55:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:21 [debug] Moves scheduled 34446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2095829837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:21 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17140, writes 0 timeouts 0
2025-04-24 14:55:21 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36038/37079
2025-04-24 14:55:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:22 [info] currentZPosition:0.0620
2025-04-24 14:55:22 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:23 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:23 [debug] Diagnostics for board 50:
2025-04-24 14:55:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:28 ago, cause: software
2025-04-24 14:55:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:23 [debug] Moves scheduled 34452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2094574179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:55:23 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21097, writes 0 timeouts 0
2025-04-24 14:55:23 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36092/37100
2025-04-24 14:55:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:23 [info] currentZPosition:0.0619
2025-04-24 14:55:24 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:25 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:25 [debug] Diagnostics for board 50:
2025-04-24 14:55:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:30 ago, cause: software
2025-04-24 14:55:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:25 [debug] Moves scheduled 34458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2093256131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:55:25 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22075, writes 0 timeouts 0
2025-04-24 14:55:25 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36050/37092
2025-04-24 14:55:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:25 [info] currentZPosition:0.0604
2025-04-24 14:55:26 [debug] Stopped at height 0.063 mm
2025-04-24 14:55:26 [debug] Diagnostics for board 50:
2025-04-24 14:55:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:31 ago, cause: software
2025-04-24 14:55:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:26 [debug] Moves scheduled 34462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2092270444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:55:26 [debug] Driver 0: pos -3486, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16542, writes 0 timeouts 0
2025-04-24 14:55:26 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36126/37118
2025-04-24 14:55:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:26 [info] currentZPosition:0.0625
2025-04-24 14:55:27 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:28 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:28 [debug] Diagnostics for board 50:
2025-04-24 14:55:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:33 ago, cause: software
2025-04-24 14:55:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:28 [debug] Moves scheduled 34468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2090964305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:55:28 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21939, writes 0 timeouts 0
2025-04-24 14:55:28 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36080/37153
2025-04-24 14:55:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:28 [info] currentZPosition:0.0615
2025-04-24 14:55:29 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:29 [debug] Diagnostics for board 50:
2025-04-24 14:55:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:34 ago, cause: software
2025-04-24 14:55:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:29 [debug] Moves scheduled 34472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2089937998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:55:29 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17196, writes 0 timeouts 0
2025-04-24 14:55:29 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36115/37150
2025-04-24 14:55:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:29 [info] currentZPosition:0.0614
2025-04-24 14:55:31 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:31 [debug] Diagnostics for board 50:
2025-04-24 14:55:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:36 ago, cause: software
2025-04-24 14:55:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:31 [debug] Moves scheduled 34476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2088894526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:55:31 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17517, writes 0 timeouts 0
2025-04-24 14:55:31 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36031/37158
2025-04-24 14:55:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8937, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:31 [info] currentZPosition:0.0623
2025-04-24 14:55:32 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:32 [debug] Diagnostics for board 50:
2025-04-24 14:55:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:37 ago, cause: software
2025-04-24 14:55:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:32 [debug] Moves scheduled 34480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 65, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2087872930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:55:32 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17155, writes 0 timeouts 0
2025-04-24 14:55:32 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36078/37095
2025-04-24 14:55:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:32 [info] currentZPosition:0.0623
2025-04-24 14:55:33 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:33 [debug] Diagnostics for board 50:
2025-04-24 14:55:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:38 ago, cause: software
2025-04-24 14:55:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:33 [debug] Moves scheduled 34484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2086785553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:33 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18223, writes 0 timeouts 0
2025-04-24 14:55:33 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36027/37121
2025-04-24 14:55:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:34 [info] currentZPosition:0.0609
2025-04-24 14:55:34 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:35 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:35 [debug] Diagnostics for board 50:
2025-04-24 14:55:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:40 ago, cause: software
2025-04-24 14:55:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:35 [debug] Moves scheduled 34490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2085510127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:55:35 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21392, writes 0 timeouts 0
2025-04-24 14:55:35 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36046/37111
2025-04-24 14:55:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:35 [info] currentZPosition:0.0603
2025-04-24 14:55:37 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:37 [debug] Diagnostics for board 50:
2025-04-24 14:55:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:41 ago, cause: software
2025-04-24 14:55:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:37 [debug] Moves scheduled 34494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2084476402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:55:37 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17386, writes 0 timeouts 0
2025-04-24 14:55:37 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36004/37121
2025-04-24 14:55:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:37 [info] currentZPosition:0.0616
2025-04-24 14:55:37 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:38 [debug] Stopped at height 0.063 mm
2025-04-24 14:55:38 [debug] Diagnostics for board 50:
2025-04-24 14:55:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:43 ago, cause: software
2025-04-24 14:55:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:38 [debug] Moves scheduled 34500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2083234965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:55:38 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20784, writes 0 timeouts 0
2025-04-24 14:55:38 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36188/37122
2025-04-24 14:55:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8945, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:38 [info] currentZPosition:0.0628
2025-04-24 14:55:39 [debug] Stopped at height 0.059 mm
2025-04-24 14:55:40 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:40 [debug] Diagnostics for board 50:
2025-04-24 14:55:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:45 ago, cause: software
2025-04-24 14:55:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:40 [debug] Moves scheduled 34506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2081937197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:40 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21788, writes 0 timeouts 0
2025-04-24 14:55:40 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36052/37138
2025-04-24 14:55:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:40 [info] currentZPosition:0.0624
2025-04-24 14:55:40 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:42 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:42 [debug] Diagnostics for board 50:
2025-04-24 14:55:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:47 ago, cause: software
2025-04-24 14:55:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:42 [debug] Moves scheduled 34512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2080657740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 14:55:42 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21450, writes 0 timeouts 0
2025-04-24 14:55:42 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36336/37168
2025-04-24 14:55:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:42 [info] currentZPosition:0.0620
2025-04-24 14:55:43 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:43 [debug] Diagnostics for board 50:
2025-04-24 14:55:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:48 ago, cause: software
2025-04-24 14:55:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:43 [debug] Moves scheduled 34516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2079578497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:55:43 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18111, writes 0 timeouts 0
2025-04-24 14:55:43 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36095/37122
2025-04-24 14:55:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:43 [info] currentZPosition:0.0607
2025-04-24 14:55:44 [debug] Stopped at height 0.060 mm
2025-04-24 14:55:45 [debug] Stopped at height 0.063 mm
2025-04-24 14:55:45 [debug] Diagnostics for board 50:
2025-04-24 14:55:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:50 ago, cause: software
2025-04-24 14:55:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:45 [debug] Moves scheduled 34522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2078350968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:55:45 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20607, writes 0 timeouts 0
2025-04-24 14:55:45 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36280/37104
2025-04-24 14:55:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8948, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:45 [info] currentZPosition:0.0625
2025-04-24 14:55:45 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:46 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:46 [debug] Diagnostics for board 50:
2025-04-24 14:55:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:51 ago, cause: software
2025-04-24 14:55:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:46 [debug] Moves scheduled 34528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2077057846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:55:46 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21694, writes 0 timeouts 0
2025-04-24 14:55:46 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36028/37146
2025-04-24 14:55:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:47 [info] currentZPosition:0.0624
2025-04-24 14:55:48 [debug] Stopped at height 0.063 mm
2025-04-24 14:55:48 [debug] Diagnostics for board 50:
2025-04-24 14:55:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 04:57:53 ago, cause: software
2025-04-24 14:55:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:48 [debug] Moves scheduled 34532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2076038450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:55:48 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17109, writes 0 timeouts 0
2025-04-24 14:55:48 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36316/37101
2025-04-24 14:55:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:48 [info] currentZPosition:0.0626
2025-04-24 14:55:49 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:49 [debug] Diagnostics for board 50:
2025-04-24 14:55:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:54 ago, cause: software
2025-04-24 14:55:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:49 [debug] Moves scheduled 34536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 101, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2074949946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:49 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18275, writes 0 timeouts 0
2025-04-24 14:55:49 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36087/37110
2025-04-24 14:55:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:49 [info] currentZPosition:0.0611
2025-04-24 14:55:50 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:51 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:51 [debug] Diagnostics for board 50:
2025-04-24 14:55:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:57:56 ago, cause: software
2025-04-24 14:55:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:51 [debug] Moves scheduled 34542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2073680711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:51 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21279, writes 0 timeouts 0
2025-04-24 14:55:51 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36267/37121
2025-04-24 14:55:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:51 [info] currentZPosition:0.0605
2025-04-24 14:55:52 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:52 [debug] Diagnostics for board 50:
2025-04-24 14:55:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:57:57 ago, cause: software
2025-04-24 14:55:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:52 [debug] Moves scheduled 34546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2072652477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:55:52 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17247, writes 0 timeouts 0
2025-04-24 14:55:52 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36037/37149
2025-04-24 14:55:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:52 [info] currentZPosition:0.0619
2025-04-24 14:55:53 [debug] Stopped at height 0.061 mm
2025-04-24 14:55:54 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:54 [debug] Diagnostics for board 50:
2025-04-24 14:55:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:57:59 ago, cause: software
2025-04-24 14:55:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:54 [debug] Moves scheduled 34552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2071404985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:55:54 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20942, writes 0 timeouts 0
2025-04-24 14:55:54 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 404, adv 36317/37095
2025-04-24 14:55:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:54 [info] currentZPosition:0.0624
2025-04-24 14:55:55 [debug] Stopped at height 0.063 mm
2025-04-24 14:55:55 [debug] Diagnostics for board 50:
2025-04-24 14:55:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:00 ago, cause: software
2025-04-24 14:55:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:55 [debug] Moves scheduled 34556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2070358730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:55:55 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17557, writes 0 timeouts 0
2025-04-24 14:55:55 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36021/37104
2025-04-24 14:55:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:55 [info] currentZPosition:0.0630
2025-04-24 14:55:57 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:57 [debug] Diagnostics for board 50:
2025-04-24 14:55:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:02 ago, cause: software
2025-04-24 14:55:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:57 [debug] Moves scheduled 34560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 96, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2069321928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:55:57 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17394, writes 0 timeouts 0
2025-04-24 14:55:57 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36337/37142
2025-04-24 14:55:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:57 [info] currentZPosition:0.0623
2025-04-24 14:55:58 [debug] Stopped at height 0.062 mm
2025-04-24 14:55:58 [debug] Diagnostics for board 50:
2025-04-24 14:55:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:55:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:03 ago, cause: software
2025-04-24 14:55:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:55:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:55:58 [debug] Moves scheduled 34564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2068260356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:55:58 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17821, writes 0 timeouts 0
2025-04-24 14:55:58 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36035/37144
2025-04-24 14:55:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:55:58 [info] currentZPosition:0.0621
2025-04-24 14:56:00 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:00 [debug] Diagnostics for board 50:
2025-04-24 14:56:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:04 ago, cause: software
2025-04-24 14:56:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:00 [debug] Moves scheduled 34568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2067242122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:56:00 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17061, writes 0 timeouts 0
2025-04-24 14:56:00 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36304/37152
2025-04-24 14:56:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:00 [info] currentZPosition:0.0624
2025-04-24 14:56:01 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:01 [debug] Diagnostics for board 50:
2025-04-24 14:56:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:06 ago, cause: software
2025-04-24 14:56:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:01 [debug] Moves scheduled 34572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2066182786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:56:01 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17791, writes 0 timeouts 0
2025-04-24 14:56:01 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36108/37116
2025-04-24 14:56:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:01 [info] currentZPosition:0.0621
2025-04-24 14:56:02 [debug] Stopped at height 0.061 mm
2025-04-24 14:56:02 [debug] Diagnostics for board 50:
2025-04-24 14:56:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:07 ago, cause: software
2025-04-24 14:56:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:02 [debug] Moves scheduled 34576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2065139222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:02 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17526, writes 0 timeouts 0
2025-04-24 14:56:02 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36309/37123
2025-04-24 14:56:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:02 [info] currentZPosition:0.0610
2025-04-24 14:56:04 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:04 [debug] Diagnostics for board 50:
2025-04-24 14:56:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:09 ago, cause: software
2025-04-24 14:56:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:04 [debug] Moves scheduled 34580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 78, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2064100277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:56:04 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17410, writes 0 timeouts 0
2025-04-24 14:56:04 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36029/37144
2025-04-24 14:56:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:04 [info] currentZPosition:0.0620
2025-04-24 14:56:05 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:05 [debug] Diagnostics for board 50:
2025-04-24 14:56:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:10 ago, cause: software
2025-04-24 14:56:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:05 [debug] Moves scheduled 34584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2063087922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:05 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16997, writes 0 timeouts 0
2025-04-24 14:56:05 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36304/37163
2025-04-24 14:56:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:05 [info] currentZPosition:0.0625
2025-04-24 14:56:07 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:07 [debug] Diagnostics for board 50:
2025-04-24 14:56:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:11 ago, cause: software
2025-04-24 14:56:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:07 [debug] Moves scheduled 34588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2062005271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:56:07 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18155, writes 0 timeouts 0
2025-04-24 14:56:07 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36033/37121
2025-04-24 14:56:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:07 [info] currentZPosition:0.0615
2025-04-24 14:56:08 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:08 [debug] Diagnostics for board 50:
2025-04-24 14:56:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:13 ago, cause: software
2025-04-24 14:56:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:08 [debug] Moves scheduled 34592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2060993950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:08 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16980, writes 0 timeouts 0
2025-04-24 14:56:08 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36346/37104
2025-04-24 14:56:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:08 [info] currentZPosition:0.0622
2025-04-24 14:56:09 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:09 [debug] Diagnostics for board 50:
2025-04-24 14:56:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:14 ago, cause: software
2025-04-24 14:56:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:09 [debug] Moves scheduled 34596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2059951943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:56:09 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17487, writes 0 timeouts 0
2025-04-24 14:56:09 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36059/37095
2025-04-24 14:56:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8957, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:09 [info] currentZPosition:0.0630
2025-04-24 14:56:11 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:11 [debug] Diagnostics for board 50:
2025-04-24 14:56:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:58:16 ago, cause: software
2025-04-24 14:56:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:11 [debug] Moves scheduled 34600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2058925413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:56:11 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17221, writes 0 timeouts 0
2025-04-24 14:56:11 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36339/37096
2025-04-24 14:56:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8949, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:11 [info] currentZPosition:0.0630
2025-04-24 14:56:12 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:12 [debug] Diagnostics for board 50:
2025-04-24 14:56:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:17 ago, cause: software
2025-04-24 14:56:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:12 [debug] Moves scheduled 34604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=10135, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2057862453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:56:12 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17839, writes 0 timeouts 0
2025-04-24 14:56:12 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36089/37097
2025-04-24 14:56:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8988, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:12 [info] currentZPosition:0.0627
2025-04-24 14:56:13 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:13 [debug] Diagnostics for board 50:
2025-04-24 14:56:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:18 ago, cause: software
2025-04-24 14:56:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:13 [debug] Moves scheduled 34608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2056837111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:56:13 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17193, writes 0 timeouts 0
2025-04-24 14:56:13 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36306/37154
2025-04-24 14:56:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:14 [info] currentZPosition:0.0625
2025-04-24 14:56:15 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:15 [debug] Diagnostics for board 50:
2025-04-24 14:56:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:20 ago, cause: software
2025-04-24 14:56:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:15 [debug] Moves scheduled 34612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2055780106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:15 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17734, writes 0 timeouts 0
2025-04-24 14:56:15 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36039/37136
2025-04-24 14:56:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:15 [info] currentZPosition:0.0626
2025-04-24 14:56:16 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:16 [debug] Diagnostics for board 50:
2025-04-24 14:56:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:58:21 ago, cause: software
2025-04-24 14:56:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:16 [debug] Moves scheduled 34616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2054764446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:16 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17059, writes 0 timeouts 0
2025-04-24 14:56:16 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36305/37083
2025-04-24 14:56:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:16 [info] currentZPosition:0.0629
2025-04-24 14:56:18 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:18 [debug] Diagnostics for board 50:
2025-04-24 14:56:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:22 ago, cause: software
2025-04-24 14:56:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:18 [debug] Moves scheduled 34620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 2053712514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:18 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17671, writes 0 timeouts 0
2025-04-24 14:56:18 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36026/37134
2025-04-24 14:56:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:18 [info] currentZPosition:0.0633
2025-04-24 14:56:19 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:19 [debug] Diagnostics for board 50:
2025-04-24 14:56:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:24 ago, cause: software
2025-04-24 14:56:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:19 [debug] Moves scheduled 34624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2052672693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:56:19 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17421, writes 0 timeouts 0
2025-04-24 14:56:19 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36302/37138
2025-04-24 14:56:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:19 [info] currentZPosition:0.0625
2025-04-24 14:56:20 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:20 [debug] Diagnostics for board 50:
2025-04-24 14:56:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:25 ago, cause: software
2025-04-24 14:56:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:20 [debug] Moves scheduled 34628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2051621123 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:20 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17642, writes 0 timeouts 0
2025-04-24 14:56:20 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36102/37114
2025-04-24 14:56:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:20 [info] currentZPosition:0.0627
2025-04-24 14:56:22 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:22 [debug] Diagnostics for board 50:
2025-04-24 14:56:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:27 ago, cause: software
2025-04-24 14:56:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:22 [debug] Moves scheduled 34632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2050582791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:22 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17510, writes 0 timeouts 0
2025-04-24 14:56:22 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36369/37130
2025-04-24 14:56:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:22 [info] currentZPosition:0.0617
2025-04-24 14:56:23 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:23 [debug] Diagnostics for board 50:
2025-04-24 14:56:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:28 ago, cause: software
2025-04-24 14:56:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:23 [debug] Moves scheduled 34636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2049530113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:23 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17560, writes 0 timeouts 0
2025-04-24 14:56:23 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36046/37164
2025-04-24 14:56:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:23 [info] currentZPosition:0.0621
2025-04-24 14:56:25 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:25 [debug] Diagnostics for board 50:
2025-04-24 14:56:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:29 ago, cause: software
2025-04-24 14:56:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:25 [debug] Moves scheduled 34640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=546, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2048506848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:56:25 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17156, writes 11 timeouts 1
2025-04-24 14:56:25 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36369/37101
2025-04-24 14:56:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:25 [info] currentZPosition:0.0617
2025-04-24 14:56:26 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:26 [debug] Diagnostics for board 50:
2025-04-24 14:56:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:31 ago, cause: software
2025-04-24 14:56:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:26 [debug] Moves scheduled 34644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2047462221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:26 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17549, writes 0 timeouts 0
2025-04-24 14:56:26 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36064/37141
2025-04-24 14:56:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8966, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:26 [info] currentZPosition:0.0623
2025-04-24 14:56:27 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:27 [debug] Diagnostics for board 50:
2025-04-24 14:56:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:32 ago, cause: software
2025-04-24 14:56:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:27 [debug] Moves scheduled 34648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2046438001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:56:27 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17162, writes 0 timeouts 0
2025-04-24 14:56:27 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36304/37171
2025-04-24 14:56:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:27 [info] currentZPosition:0.0622
2025-04-24 14:56:29 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:29 [debug] Diagnostics for board 50:
2025-04-24 14:56:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:34 ago, cause: software
2025-04-24 14:56:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:29 [debug] Moves scheduled 34652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2045387243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:56:29 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17647, writes 0 timeouts 0
2025-04-24 14:56:29 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36089/37150
2025-04-24 14:56:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:29 [info] currentZPosition:0.0625
2025-04-24 14:56:30 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:30 [debug] Diagnostics for board 50:
2025-04-24 14:56:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:35 ago, cause: software
2025-04-24 14:56:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:30 [debug] Moves scheduled 34656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2044377601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:56:30 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16992, writes 0 timeouts 0
2025-04-24 14:56:30 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36207/37143
2025-04-24 14:56:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:30 [info] currentZPosition:0.0632
2025-04-24 14:56:31 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:31 [debug] Diagnostics for board 50:
2025-04-24 14:56:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:36 ago, cause: software
2025-04-24 14:56:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:31 [debug] Moves scheduled 34660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter 0/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2043301772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:56:31 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17982, writes 0 timeouts 0
2025-04-24 14:56:31 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36041/37104
2025-04-24 14:56:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:32 [info] currentZPosition:0.0623
2025-04-24 14:56:33 [debug] Stopped at height 0.064 mm
2025-04-24 14:56:33 [debug] Diagnostics for board 50:
2025-04-24 14:56:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:38 ago, cause: software
2025-04-24 14:56:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:33 [debug] Moves scheduled 34664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2042304628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:56:33 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16742, writes 0 timeouts 0
2025-04-24 14:56:33 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36186/37131
2025-04-24 14:56:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:33 [info] currentZPosition:0.0637
2025-04-24 14:56:33 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:35 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:35 [debug] Diagnostics for board 50:
2025-04-24 14:56:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:39 ago, cause: software
2025-04-24 14:56:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:35 [debug] Moves scheduled 34670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2040998965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:35 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21944, writes 0 timeouts 0
2025-04-24 14:56:35 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36039/37115
2025-04-24 14:56:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:35 [info] currentZPosition:0.0627
2025-04-24 14:56:36 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:36 [debug] Diagnostics for board 50:
2025-04-24 14:56:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:58:41 ago, cause: software
2025-04-24 14:56:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:36 [debug] Moves scheduled 34674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2039975376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:56:36 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17141, writes 0 timeouts 0
2025-04-24 14:56:36 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36056/37144
2025-04-24 14:56:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:36 [info] currentZPosition:0.0627
2025-04-24 14:56:37 [debug] Stopped at height 0.064 mm
2025-04-24 14:56:37 [debug] Diagnostics for board 50:
2025-04-24 14:56:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:42 ago, cause: software
2025-04-24 14:56:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:37 [debug] Moves scheduled 34678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2038935527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:37 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17459, writes 0 timeouts 0
2025-04-24 14:56:37 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36056/37117
2025-04-24 14:56:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:37 [info] currentZPosition:0.0637
2025-04-24 14:56:39 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:39 [debug] Diagnostics for board 50:
2025-04-24 14:56:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:44 ago, cause: software
2025-04-24 14:56:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:39 [debug] Moves scheduled 34682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2037886919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:56:39 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17602, writes 0 timeouts 0
2025-04-24 14:56:39 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36096/37148
2025-04-24 14:56:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:39 [info] currentZPosition:0.0623
2025-04-24 14:56:39 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:40 [debug] Stopped at height 0.061 mm
2025-04-24 14:56:40 [debug] Diagnostics for board 50:
2025-04-24 14:56:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:45 ago, cause: software
2025-04-24 14:56:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:40 [debug] Moves scheduled 34688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 85, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2036573371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:40 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22032, writes 0 timeouts 0
2025-04-24 14:56:40 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36031/37165
2025-04-24 14:56:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:41 [info] currentZPosition:0.0614
2025-04-24 14:56:42 [debug] Stopped at height 0.064 mm
2025-04-24 14:56:42 [debug] Diagnostics for board 50:
2025-04-24 14:56:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:47 ago, cause: software
2025-04-24 14:56:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:42 [debug] Moves scheduled 34692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2035588458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:56:42 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16509, writes 0 timeouts 0
2025-04-24 14:56:42 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36104/37084
2025-04-24 14:56:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:42 [info] currentZPosition:0.0636
2025-04-24 14:56:42 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:43 [debug] Stopped at height 0.064 mm
2025-04-24 14:56:43 [debug] Diagnostics for board 50:
2025-04-24 14:56:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:48 ago, cause: software
2025-04-24 14:56:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:43 [debug] Moves scheduled 34698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2034300405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:56:43 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21661, writes 0 timeouts 0
2025-04-24 14:56:43 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36038/37108
2025-04-24 14:56:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:44 [info] currentZPosition:0.0635
2025-04-24 14:56:44 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:45 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:45 [debug] Diagnostics for board 50:
2025-04-24 14:56:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:50 ago, cause: software
2025-04-24 14:56:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:45 [debug] Moves scheduled 34704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 63, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2033032150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:45 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21239, writes 0 timeouts 0
2025-04-24 14:56:45 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36046/37114
2025-04-24 14:56:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:45 [info] currentZPosition:0.0628
2025-04-24 14:56:46 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:47 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:47 [debug] Diagnostics for board 50:
2025-04-24 14:56:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:52 ago, cause: software
2025-04-24 14:56:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:47 [debug] Moves scheduled 34710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2031744170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:56:47 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21614, writes 0 timeouts 0
2025-04-24 14:56:47 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36049/37084
2025-04-24 14:56:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:47 [info] currentZPosition:0.0632
2025-04-24 14:56:47 [debug] Stopped at height 0.060 mm
2025-04-24 14:56:48 [debug] Stopped at height 0.060 mm
2025-04-24 14:56:49 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:49 [debug] Diagnostics for board 50:
2025-04-24 14:56:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:58:54 ago, cause: software
2025-04-24 14:56:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:49 [debug] Moves scheduled 34718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2030232727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:56:49 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25350, writes 0 timeouts 0
2025-04-24 14:56:49 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36049/37167
2025-04-24 14:56:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:49 [info] currentZPosition:0.0628
2025-04-24 14:56:49 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:51 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:51 [debug] Diagnostics for board 50:
2025-04-24 14:56:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:56 ago, cause: software
2025-04-24 14:56:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:51 [debug] Moves scheduled 34724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 87, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2028932194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:51 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21821, writes 0 timeouts 0
2025-04-24 14:56:51 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36031/37148
2025-04-24 14:56:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:51 [info] currentZPosition:0.0628
2025-04-24 14:56:52 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:52 [debug] Diagnostics for board 50:
2025-04-24 14:56:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:57 ago, cause: software
2025-04-24 14:56:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:52 [debug] Moves scheduled 34728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2027918054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:56:52 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17028, writes 0 timeouts 0
2025-04-24 14:56:52 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36141/37117
2025-04-24 14:56:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:52 [info] currentZPosition:0.0633
2025-04-24 14:56:53 [debug] Stopped at height 0.063 mm
2025-04-24 14:56:53 [debug] Diagnostics for board 50:
2025-04-24 14:56:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:58:58 ago, cause: software
2025-04-24 14:56:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:53 [debug] Moves scheduled 34732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2026852760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:56:53 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17869, writes 0 timeouts 0
2025-04-24 14:56:53 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36054/37097
2025-04-24 14:56:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:54 [info] currentZPosition:0.0628
2025-04-24 14:56:55 [debug] Stopped at height 0.064 mm
2025-04-24 14:56:55 [debug] Diagnostics for board 50:
2025-04-24 14:56:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:59:00 ago, cause: software
2025-04-24 14:56:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:55 [debug] Moves scheduled 34736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2025845303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:56:55 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16916, writes 0 timeouts 0
2025-04-24 14:56:55 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36103/37105
2025-04-24 14:56:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:55 [info] currentZPosition:0.0635
2025-04-24 14:56:56 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:56 [debug] Diagnostics for board 50:
2025-04-24 14:56:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:01 ago, cause: software
2025-04-24 14:56:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:56 [debug] Moves scheduled 34740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2024757979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:56:56 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18259, writes 0 timeouts 0
2025-04-24 14:56:56 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36061/37129
2025-04-24 14:56:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:56 [info] currentZPosition:0.0621
2025-04-24 14:56:57 [debug] Stopped at height 0.060 mm
2025-04-24 14:56:57 [debug] Stopped at height 0.060 mm
2025-04-24 14:56:58 [debug] Stopped at height 0.062 mm
2025-04-24 14:56:58 [debug] Diagnostics for board 50:
2025-04-24 14:56:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:56:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:03 ago, cause: software
2025-04-24 14:56:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:56:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:56:58 [debug] Moves scheduled 34748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2023254727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:56:58 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25218, writes 0 timeouts 0
2025-04-24 14:56:58 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36075/37119
2025-04-24 14:56:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:56:58 [info] currentZPosition:0.0623
2025-04-24 14:56:59 [debug] Stopped at height 0.062 mm
2025-04-24 14:57:00 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:00 [debug] Diagnostics for board 50:
2025-04-24 14:57:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:05 ago, cause: software
2025-04-24 14:57:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:00 [debug] Moves scheduled 34754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2021968803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:57:00 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21560, writes 0 timeouts 0
2025-04-24 14:57:00 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36035/37155
2025-04-24 14:57:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:00 [info] currentZPosition:0.0627
2025-04-24 14:57:01 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:01 [debug] Diagnostics for board 50:
2025-04-24 14:57:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:06 ago, cause: software
2025-04-24 14:57:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:01 [debug] Moves scheduled 34758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2020964528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:57:01 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16862, writes 0 timeouts 0
2025-04-24 14:57:01 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36131/37118
2025-04-24 14:57:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:01 [info] currentZPosition:0.0636
2025-04-24 14:57:03 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:03 [debug] Diagnostics for board 50:
2025-04-24 14:57:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:08 ago, cause: software
2025-04-24 14:57:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:03 [debug] Moves scheduled 34762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2019900246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:57:03 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17864, writes 0 timeouts 0
2025-04-24 14:57:03 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36029/37158
2025-04-24 14:57:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:03 [info] currentZPosition:0.0632
2025-04-24 14:57:04 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:04 [debug] Diagnostics for board 50:
2025-04-24 14:57:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:09 ago, cause: software
2025-04-24 14:57:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:04 [debug] Moves scheduled 34766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2018877513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:57:04 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17149, writes 0 timeouts 0
2025-04-24 14:57:04 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36076/37149
2025-04-24 14:57:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:04 [info] currentZPosition:0.0634
2025-04-24 14:57:05 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:05 [debug] Diagnostics for board 50:
2025-04-24 14:57:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:10 ago, cause: software
2025-04-24 14:57:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:05 [debug] Moves scheduled 34770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2017815594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:57:05 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17822, writes 0 timeouts 0
2025-04-24 14:57:05 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36057/37088
2025-04-24 14:57:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:06 [info] currentZPosition:0.0632
2025-04-24 14:57:07 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:07 [debug] Diagnostics for board 50:
2025-04-24 14:57:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:59:12 ago, cause: software
2025-04-24 14:57:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:07 [debug] Moves scheduled 34774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2016786440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:07 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17261, writes 0 timeouts 0
2025-04-24 14:57:07 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36076/37168
2025-04-24 14:57:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:07 [info] currentZPosition:0.0629
2025-04-24 14:57:08 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:08 [debug] Diagnostics for board 50:
2025-04-24 14:57:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:13 ago, cause: software
2025-04-24 14:57:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:08 [debug] Moves scheduled 34778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2015740228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:57:08 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17569, writes 0 timeouts 0
2025-04-24 14:57:08 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36100/37096
2025-04-24 14:57:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:08 [info] currentZPosition:0.0633
2025-04-24 14:57:10 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:10 [debug] Diagnostics for board 50:
2025-04-24 14:57:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 04:59:14 ago, cause: software
2025-04-24 14:57:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:10 [debug] Moves scheduled 34782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2014729122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:57:10 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16961, writes 0 timeouts 0
2025-04-24 14:57:10 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36086/37139
2025-04-24 14:57:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:10 [info] currentZPosition:0.0640
2025-04-24 14:57:11 [debug] Stopped at height 0.062 mm
2025-04-24 14:57:11 [debug] Diagnostics for board 50:
2025-04-24 14:57:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:16 ago, cause: software
2025-04-24 14:57:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:11 [debug] Moves scheduled 34786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2013641972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:57:11 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18241, writes 0 timeouts 0
2025-04-24 14:57:11 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36054/37101
2025-04-24 14:57:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:11 [info] currentZPosition:0.0624
2025-04-24 14:57:11 [debug] Stopped at height 0.061 mm
2025-04-24 14:57:13 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:13 [debug] Diagnostics for board 50:
2025-04-24 14:57:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:18 ago, cause: software
2025-04-24 14:57:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:13 [debug] Moves scheduled 34792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2012389605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:13 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21016, writes 0 timeouts 0
2025-04-24 14:57:13 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36090/37131
2025-04-24 14:57:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:13 [info] currentZPosition:0.0630
2025-04-24 14:57:14 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:14 [debug] Diagnostics for board 50:
2025-04-24 14:57:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:19 ago, cause: software
2025-04-24 14:57:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:14 [debug] Moves scheduled 34796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2011342658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:14 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17567, writes 0 timeouts 0
2025-04-24 14:57:14 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36081/37115
2025-04-24 14:57:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:14 [info] currentZPosition:0.0635
2025-04-24 14:57:15 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:15 [debug] Diagnostics for board 50:
2025-04-24 14:57:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:20 ago, cause: software
2025-04-24 14:57:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:15 [debug] Moves scheduled 34800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15306
Sync err accum 66, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2010325629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:57:15 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17068, writes 0 timeouts 0
2025-04-24 14:57:15 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36085/37154
2025-04-24 14:57:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:16 [info] currentZPosition:0.0637
2025-04-24 14:57:17 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:17 [debug] Diagnostics for board 50:
2025-04-24 14:57:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:22 ago, cause: software
2025-04-24 14:57:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:17 [debug] Moves scheduled 34804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 82, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2009253809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:57:17 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18015, writes 0 timeouts 0
2025-04-24 14:57:17 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36014/37134
2025-04-24 14:57:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:17 [info] currentZPosition:0.0630
2025-04-24 14:57:18 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:18 [debug] Diagnostics for board 50:
2025-04-24 14:57:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:23 ago, cause: software
2025-04-24 14:57:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:18 [debug] Moves scheduled 34808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 95, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2008245748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:57:18 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16880, writes 0 timeouts 0
2025-04-24 14:57:18 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36086/37104
2025-04-24 14:57:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:18 [info] currentZPosition:0.0638
2025-04-24 14:57:20 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:20 [debug] Diagnostics for board 50:
2025-04-24 14:57:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:25 ago, cause: software
2025-04-24 14:57:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:20 [debug] Moves scheduled 34812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2007180607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:57:20 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17905, writes 0 timeouts 0
2025-04-24 14:57:20 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36024/37162
2025-04-24 14:57:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:20 [info] currentZPosition:0.0632
2025-04-24 14:57:21 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:21 [debug] Diagnostics for board 50:
2025-04-24 14:57:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:26 ago, cause: software
2025-04-24 14:57:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:21 [debug] Moves scheduled 34816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 112, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2006175606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:57:21 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16875, writes 0 timeouts 0
2025-04-24 14:57:21 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36138/37081
2025-04-24 14:57:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:21 [info] currentZPosition:0.0641
2025-04-24 14:57:22 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:22 [debug] Diagnostics for board 50:
2025-04-24 14:57:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:27 ago, cause: software
2025-04-24 14:57:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:22 [debug] Moves scheduled 34820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 120, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2005096956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:57:22 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18068, writes 0 timeouts 0
2025-04-24 14:57:22 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36023/37087
2025-04-24 14:57:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:23 [info] currentZPosition:0.0632
2025-04-24 14:57:24 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:24 [debug] Diagnostics for board 50:
2025-04-24 14:57:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:29 ago, cause: software
2025-04-24 14:57:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:24 [debug] Moves scheduled 34824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 121, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2004091181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:57:24 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16863, writes 0 timeouts 0
2025-04-24 14:57:24 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 438, adv 36095/37076
2025-04-24 14:57:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:24 [info] currentZPosition:0.0641
2025-04-24 14:57:25 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:25 [debug] Diagnostics for board 50:
2025-04-24 14:57:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:30 ago, cause: software
2025-04-24 14:57:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:25 [debug] Moves scheduled 34828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 121, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2003043826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:57:25 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17615, writes 0 timeouts 0
2025-04-24 14:57:25 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36024/37113
2025-04-24 14:57:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8992, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:25 [info] currentZPosition:0.0646
2025-04-24 14:57:27 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:27 [debug] Diagnostics for board 50:
2025-04-24 14:57:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:31 ago, cause: software
2025-04-24 14:57:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:27 [debug] Moves scheduled 34832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 117, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2002009014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:27 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17337, writes 0 timeouts 0
2025-04-24 14:57:27 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36099/37121
2025-04-24 14:57:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:27 [info] currentZPosition:0.0641
2025-04-24 14:57:28 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:28 [debug] Diagnostics for board 50:
2025-04-24 14:57:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:33 ago, cause: software
2025-04-24 14:57:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:28 [debug] Moves scheduled 34836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 113, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2000931245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:57:28 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18079, writes 0 timeouts 0
2025-04-24 14:57:28 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35994/37104
2025-04-24 14:57:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:28 [info] currentZPosition:0.0633
2025-04-24 14:57:29 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:29 [debug] Diagnostics for board 50:
2025-04-24 14:57:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:34 ago, cause: software
2025-04-24 14:57:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:29 [debug] Moves scheduled 34840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 107, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1999917147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 14:57:29 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17041, writes 0 timeouts 0
2025-04-24 14:57:29 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36186/37096
2025-04-24 14:57:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:29 [info] currentZPosition:0.0638
2025-04-24 14:57:31 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:31 [debug] Diagnostics for board 50:
2025-04-24 14:57:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:36 ago, cause: software
2025-04-24 14:57:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:31 [debug] Moves scheduled 34844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 96, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1998856650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:31 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17773, writes 0 timeouts 0
2025-04-24 14:57:31 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36016/37104
2025-04-24 14:57:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:31 [info] currentZPosition:0.0636
2025-04-24 14:57:32 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:32 [debug] Diagnostics for board 50:
2025-04-24 14:57:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:37 ago, cause: software
2025-04-24 14:57:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:32 [debug] Moves scheduled 34848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1997835230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:57:32 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17125, writes 0 timeouts 0
2025-04-24 14:57:32 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36314/37113
2025-04-24 14:57:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:32 [info] currentZPosition:0.0637
2025-04-24 14:57:33 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:33 [debug] Diagnostics for board 50:
2025-04-24 14:57:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:38 ago, cause: software
2025-04-24 14:57:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:33 [debug] Moves scheduled 34852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -3/-2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1996791980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:33 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17541, writes 0 timeouts 0
2025-04-24 14:57:33 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36063/37126
2025-04-24 14:57:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:34 [info] currentZPosition:0.0645
2025-04-24 14:57:35 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:35 [debug] Diagnostics for board 50:
2025-04-24 14:57:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:40 ago, cause: software
2025-04-24 14:57:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:35 [debug] Moves scheduled 34856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -3/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1995767983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:57:35 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17156, writes 0 timeouts 0
2025-04-24 14:57:35 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36291/37087
2025-04-24 14:57:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:35 [info] currentZPosition:0.0645
2025-04-24 14:57:36 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:36 [debug] Diagnostics for board 50:
2025-04-24 14:57:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:41 ago, cause: software
2025-04-24 14:57:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:36 [debug] Moves scheduled 34860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1994703546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:57:36 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17862, writes 0 timeouts 0
2025-04-24 14:57:36 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36033/37121
2025-04-24 14:57:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:36 [info] currentZPosition:0.0642
2025-04-24 14:57:38 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:38 [debug] Diagnostics for board 50:
2025-04-24 14:57:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:43 ago, cause: software
2025-04-24 14:57:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:38 [debug] Moves scheduled 34864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1993691888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:57:38 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17009, writes 0 timeouts 0
2025-04-24 14:57:38 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36322/37142
2025-04-24 14:57:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:38 [info] currentZPosition:0.0647
2025-04-24 14:57:39 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:39 [debug] Diagnostics for board 50:
2025-04-24 14:57:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:44 ago, cause: software
2025-04-24 14:57:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:39 [debug] Moves scheduled 34868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9146, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1992622283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:57:39 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17915, writes 0 timeouts 0
2025-04-24 14:57:39 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36011/37120
2025-04-24 14:57:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:39 [info] currentZPosition:0.0640
2025-04-24 14:57:40 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:40 [debug] Diagnostics for board 50:
2025-04-24 14:57:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:45 ago, cause: software
2025-04-24 14:57:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:40 [debug] Moves scheduled 34872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1991610040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:57:40 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16986, writes 0 timeouts 0
2025-04-24 14:57:40 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36293/37150
2025-04-24 14:57:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8942, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:40 [info] currentZPosition:0.0646
2025-04-24 14:57:42 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:42 [debug] Diagnostics for board 50:
2025-04-24 14:57:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:47 ago, cause: software
2025-04-24 14:57:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:42 [debug] Moves scheduled 34876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter -1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1990528187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:57:42 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18172, writes 0 timeouts 0
2025-04-24 14:57:42 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36036/37169
2025-04-24 14:57:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:42 [info] currentZPosition:0.0632
2025-04-24 14:57:42 [debug] Stopped at height 0.062 mm
2025-04-24 14:57:44 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:44 [debug] Diagnostics for board 50:
2025-04-24 14:57:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:48 ago, cause: software
2025-04-24 14:57:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:44 [debug] Moves scheduled 34882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1989276544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:57:44 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20975, writes 0 timeouts 0
2025-04-24 14:57:44 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36325/37123
2025-04-24 14:57:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:44 [info] currentZPosition:0.0641
2025-04-24 14:57:44 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:45 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:45 [debug] Diagnostics for board 50:
2025-04-24 14:57:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:50 ago, cause: software
2025-04-24 14:57:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:45 [debug] Moves scheduled 34888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter -2/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1987991235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:57:45 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21569, writes 0 timeouts 0
2025-04-24 14:57:45 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36087/37170
2025-04-24 14:57:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:45 [info] currentZPosition:0.0643
2025-04-24 14:57:47 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:47 [debug] Diagnostics for board 50:
2025-04-24 14:57:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:51 ago, cause: software
2025-04-24 14:57:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:47 [debug] Moves scheduled 34892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1986946690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:57:47 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17527, writes 0 timeouts 0
2025-04-24 14:57:47 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 420, adv 36364/37099
2025-04-24 14:57:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:47 [info] currentZPosition:0.0634
2025-04-24 14:57:48 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:48 [debug] Diagnostics for board 50:
2025-04-24 14:57:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 04:59:53 ago, cause: software
2025-04-24 14:57:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:48 [debug] Moves scheduled 34896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1985908959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:48 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17423, writes 0 timeouts 0
2025-04-24 14:57:48 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36025/37123
2025-04-24 14:57:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8982, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:48 [info] currentZPosition:0.0644
2025-04-24 14:57:49 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:49 [debug] Diagnostics for board 50:
2025-04-24 14:57:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 04:59:54 ago, cause: software
2025-04-24 14:57:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:49 [debug] Moves scheduled 34900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1984886409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:57:49 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17157, writes 0 timeouts 0
2025-04-24 14:57:49 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36326/37130
2025-04-24 14:57:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:49 [info] currentZPosition:0.0644
2025-04-24 14:57:51 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:51 [debug] Diagnostics for board 50:
2025-04-24 14:57:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:56 ago, cause: software
2025-04-24 14:57:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:51 [debug] Moves scheduled 34904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1983831508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:57:51 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17697, writes 0 timeouts 0
2025-04-24 14:57:51 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36063/37140
2025-04-24 14:57:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:51 [info] currentZPosition:0.0645
2025-04-24 14:57:52 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:52 [debug] Diagnostics for board 50:
2025-04-24 14:57:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:57 ago, cause: software
2025-04-24 14:57:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:52 [debug] Moves scheduled 34908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1982777393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:57:52 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17696, writes 0 timeouts 0
2025-04-24 14:57:52 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36302/37104
2025-04-24 14:57:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:52 [info] currentZPosition:0.0629
2025-04-24 14:57:53 [debug] Stopped at height 0.063 mm
2025-04-24 14:57:54 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:54 [debug] Diagnostics for board 50:
2025-04-24 14:57:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 04:59:59 ago, cause: software
2025-04-24 14:57:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:54 [debug] Moves scheduled 34914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1981492851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:57:54 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 23346, writes 0 timeouts 0
2025-04-24 14:57:54 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36003/37169
2025-04-24 14:57:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:54 [info] currentZPosition:0.0635
2025-04-24 14:57:56 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:56 [debug] Diagnostics for board 50:
2025-04-24 14:57:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:01 ago, cause: software
2025-04-24 14:57:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:56 [debug] Moves scheduled 34918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1979592793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:57:56 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 30116, writes 0 timeouts 0
2025-04-24 14:57:56 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36341/37098
2025-04-24 14:57:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:57 [info] currentZPosition:0.0648
2025-04-24 14:57:57 [debug] Stopped at height 0.064 mm
2025-04-24 14:57:58 [debug] Stopped at height 0.065 mm
2025-04-24 14:57:58 [debug] Diagnostics for board 50:
2025-04-24 14:57:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:57:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:03 ago, cause: software
2025-04-24 14:57:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:57:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:57:58 [debug] Moves scheduled 34924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15306
Sync err accum 84, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1978307594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:57:58 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21560, writes 0 timeouts 0
2025-04-24 14:57:58 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36006/37131
2025-04-24 14:57:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:57:58 [info] currentZPosition:0.0652
2025-04-24 14:57:59 [debug] Stopped at height 0.063 mm
2025-04-24 14:58:00 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:00 [debug] Diagnostics for board 50:
2025-04-24 14:58:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:00:05 ago, cause: software
2025-04-24 14:58:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:00 [debug] Moves scheduled 34930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1977041852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:58:00 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21229, writes 0 timeouts 0
2025-04-24 14:58:00 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36325/37164
2025-04-24 14:58:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:00 [info] currentZPosition:0.0648
2025-04-24 14:58:00 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:02 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:02 [debug] Diagnostics for board 50:
2025-04-24 14:58:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:06 ago, cause: software
2025-04-24 14:58:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:02 [debug] Moves scheduled 34936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1975736264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:58:02 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21914, writes 0 timeouts 0
2025-04-24 14:58:02 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36026/37126
2025-04-24 14:58:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:02 [info] currentZPosition:0.0641
2025-04-24 14:58:03 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:03 [debug] Diagnostics for board 50:
2025-04-24 14:58:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:00:08 ago, cause: software
2025-04-24 14:58:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:03 [debug] Moves scheduled 34940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10000, max=15000
Sync err accum 62, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1974707474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:58:03 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17256, writes 0 timeouts 0
2025-04-24 14:58:03 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36313/37097
2025-04-24 14:58:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:03 [info] currentZPosition:0.0638
2025-04-24 14:58:04 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:04 [debug] Diagnostics for board 50:
2025-04-24 14:58:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:09 ago, cause: software
2025-04-24 14:58:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:04 [debug] Moves scheduled 34944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 71, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1973654331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:58:04 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17681, writes 0 timeouts 0
2025-04-24 14:58:04 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36007/37138
2025-04-24 14:58:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:04 [info] currentZPosition:0.0640
2025-04-24 14:58:06 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:06 [debug] Diagnostics for board 50:
2025-04-24 14:58:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:00:11 ago, cause: software
2025-04-24 14:58:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:06 [debug] Moves scheduled 34948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1972630886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:58:06 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17161, writes 0 timeouts 0
2025-04-24 14:58:06 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36367/37084
2025-04-24 14:58:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:06 [info] currentZPosition:0.0642
2025-04-24 14:58:07 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:07 [debug] Diagnostics for board 50:
2025-04-24 14:58:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:12 ago, cause: software
2025-04-24 14:58:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:07 [debug] Moves scheduled 34952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1971576675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:58:07 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17692, writes 0 timeouts 0
2025-04-24 14:58:07 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36028/37116
2025-04-24 14:58:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:07 [info] currentZPosition:0.0643
2025-04-24 14:58:08 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:08 [debug] Diagnostics for board 50:
2025-04-24 14:58:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:13 ago, cause: software
2025-04-24 14:58:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:08 [debug] Moves scheduled 34956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1970553339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:58:08 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17171, writes 0 timeouts 0
2025-04-24 14:58:08 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36307/37168
2025-04-24 14:58:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:09 [info] currentZPosition:0.0642
2025-04-24 14:58:10 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:10 [debug] Diagnostics for board 50:
2025-04-24 14:58:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:15 ago, cause: software
2025-04-24 14:58:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:10 [debug] Moves scheduled 34960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1969490839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:10 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17840, writes 0 timeouts 0
2025-04-24 14:58:10 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35990/37123
2025-04-24 14:58:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:10 [info] currentZPosition:0.0638
2025-04-24 14:58:11 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:11 [debug] Diagnostics for board 50:
2025-04-24 14:58:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:00:16 ago, cause: software
2025-04-24 14:58:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:11 [debug] Moves scheduled 34964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 104, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1968470258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:11 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17121, writes 0 timeouts 0
2025-04-24 14:58:11 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36346/37102
2025-04-24 14:58:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:11 [info] currentZPosition:0.0640
2025-04-24 14:58:13 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:13 [debug] Diagnostics for board 50:
2025-04-24 14:58:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:00:18 ago, cause: software
2025-04-24 14:58:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:13 [debug] Moves scheduled 34968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 103, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1967413804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:58:13 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17725, writes 0 timeouts 0
2025-04-24 14:58:13 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36024/37133
2025-04-24 14:58:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:13 [info] currentZPosition:0.0641
2025-04-24 14:58:14 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:14 [debug] Diagnostics for board 50:
2025-04-24 14:58:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:00:19 ago, cause: software
2025-04-24 14:58:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:14 [debug] Moves scheduled 34972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1966382577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:58:14 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17303, writes 0 timeouts 0
2025-04-24 14:58:14 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36350/37151
2025-04-24 14:58:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:14 [info] currentZPosition:0.0639
2025-04-24 14:58:15 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:15 [debug] Diagnostics for board 50:
2025-04-24 14:58:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:00:20 ago, cause: software
2025-04-24 14:58:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:15 [debug] Moves scheduled 34976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1965341413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:58:15 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17463, writes 0 timeouts 0
2025-04-24 14:58:15 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36012/37124
2025-04-24 14:58:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:16 [info] currentZPosition:0.0649
2025-04-24 14:58:17 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:17 [debug] Diagnostics for board 50:
2025-04-24 14:58:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:22 ago, cause: software
2025-04-24 14:58:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:17 [debug] Moves scheduled 34980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1964316682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:58:17 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17194, writes 0 timeouts 0
2025-04-24 14:58:17 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36320/37159
2025-04-24 14:58:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:17 [info] currentZPosition:0.0647
2025-04-24 14:58:18 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:18 [debug] Diagnostics for board 50:
2025-04-24 14:58:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:23 ago, cause: software
2025-04-24 14:58:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:18 [debug] Moves scheduled 34984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1963262562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:58:18 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17684, writes 0 timeouts 0
2025-04-24 14:58:18 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36034/37120
2025-04-24 14:58:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:18 [info] currentZPosition:0.0648
2025-04-24 14:58:20 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:20 [debug] Diagnostics for board 50:
2025-04-24 14:58:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:24 ago, cause: software
2025-04-24 14:58:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:20 [debug] Moves scheduled 34988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1962219146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:58:20 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17506, writes 0 timeouts 0
2025-04-24 14:58:20 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36344/37161
2025-04-24 14:58:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:20 [info] currentZPosition:0.0638
2025-04-24 14:58:21 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:21 [debug] Diagnostics for board 50:
2025-04-24 14:58:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:26 ago, cause: software
2025-04-24 14:58:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:21 [debug] Moves scheduled 34992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 65, peak jitter -2/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1961188470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:21 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17314, writes 0 timeouts 0
2025-04-24 14:58:21 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36075/37123
2025-04-24 14:58:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:21 [info] currentZPosition:0.0652
2025-04-24 14:58:21 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:23 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:23 [debug] Diagnostics for board 50:
2025-04-24 14:58:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:28 ago, cause: software
2025-04-24 14:58:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:23 [debug] Moves scheduled 34998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1959919519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:58:23 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21292, writes 0 timeouts 0
2025-04-24 14:58:23 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36349/37136
2025-04-24 14:58:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:23 [info] currentZPosition:0.0647
2025-04-24 14:58:24 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:24 [debug] Diagnostics for board 50:
2025-04-24 14:58:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:29 ago, cause: software
2025-04-24 14:58:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:24 [debug] Moves scheduled 35002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 95, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1958866286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:58:24 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17659, writes 0 timeouts 0
2025-04-24 14:58:24 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36020/37163
2025-04-24 14:58:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:24 [info] currentZPosition:0.0649
2025-04-24 14:58:25 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:25 [debug] Diagnostics for board 50:
2025-04-24 14:58:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:30 ago, cause: software
2025-04-24 14:58:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:25 [debug] Moves scheduled 35006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1957833419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:25 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17336, writes 0 timeouts 0
2025-04-24 14:58:25 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36193/37140
2025-04-24 14:58:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:26 [info] currentZPosition:0.0645
2025-04-24 14:58:27 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:27 [debug] Diagnostics for board 50:
2025-04-24 14:58:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:32 ago, cause: software
2025-04-24 14:58:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:27 [debug] Moves scheduled 35010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1956775632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:27 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17763, writes 0 timeouts 0
2025-04-24 14:58:27 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36080/37125
2025-04-24 14:58:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:27 [info] currentZPosition:0.0645
2025-04-24 14:58:28 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:28 [debug] Diagnostics for board 50:
2025-04-24 14:58:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:33 ago, cause: software
2025-04-24 14:58:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:28 [debug] Moves scheduled 35014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1955745679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:58:28 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17266, writes 0 timeouts 0
2025-04-24 14:58:28 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36107/37150
2025-04-24 14:58:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:28 [info] currentZPosition:0.0640
2025-04-24 14:58:30 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:30 [debug] Diagnostics for board 50:
2025-04-24 14:58:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:34 ago, cause: software
2025-04-24 14:58:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:30 [debug] Moves scheduled 35018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1954708601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:58:30 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17405, writes 0 timeouts 0
2025-04-24 14:58:30 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36057/37099
2025-04-24 14:58:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:30 [info] currentZPosition:0.0652
2025-04-24 14:58:31 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:31 [debug] Diagnostics for board 50:
2025-04-24 14:58:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:36 ago, cause: software
2025-04-24 14:58:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:31 [debug] Moves scheduled 35022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1953693239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:58:31 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17047, writes 0 timeouts 0
2025-04-24 14:58:31 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36099/37100
2025-04-24 14:58:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:31 [info] currentZPosition:0.0655
2025-04-24 14:58:32 [debug] Stopped at height 0.063 mm
2025-04-24 14:58:32 [debug] Diagnostics for board 50:
2025-04-24 14:58:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:00:37 ago, cause: software
2025-04-24 14:58:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:32 [debug] Moves scheduled 35026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 103, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1952599402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:58:32 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18363, writes 0 timeouts 0
2025-04-24 14:58:32 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36044/37106
2025-04-24 14:58:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:33 [info] currentZPosition:0.0634
2025-04-24 14:58:33 [debug] Stopped at height 0.063 mm
2025-04-24 14:58:34 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:34 [debug] Diagnostics for board 50:
2025-04-24 14:58:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:39 ago, cause: software
2025-04-24 14:58:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:34 [debug] Moves scheduled 35032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1951367803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:34 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20657, writes 0 timeouts 0
2025-04-24 14:58:34 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36066/37161
2025-04-24 14:58:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:34 [info] currentZPosition:0.0651
2025-04-24 14:58:34 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:36 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:36 [debug] Diagnostics for board 50:
2025-04-24 14:58:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:41 ago, cause: software
2025-04-24 14:58:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:36 [debug] Moves scheduled 35038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1950079874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:58:36 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21603, writes 0 timeouts 0
2025-04-24 14:58:36 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36027/37109
2025-04-24 14:58:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:36 [info] currentZPosition:0.0651
2025-04-24 14:58:37 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:37 [debug] Diagnostics for board 50:
2025-04-24 14:58:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:42 ago, cause: software
2025-04-24 14:58:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:37 [debug] Moves scheduled 35042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 64, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1949049153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:58:37 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17323, writes 0 timeouts 0
2025-04-24 14:58:37 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36097/37125
2025-04-24 14:58:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:37 [info] currentZPosition:0.0648
2025-04-24 14:58:39 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:39 [debug] Diagnostics for board 50:
2025-04-24 14:58:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:43 ago, cause: software
2025-04-24 14:58:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:39 [debug] Moves scheduled 35046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -3/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1948009211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:39 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17446, writes 0 timeouts 0
2025-04-24 14:58:39 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37104
2025-04-24 14:58:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:39 [info] currentZPosition:0.0659
2025-04-24 14:58:40 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:40 [debug] Diagnostics for board 50:
2025-04-24 14:58:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:00:45 ago, cause: software
2025-04-24 14:58:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:40 [debug] Moves scheduled 35050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter 1/4, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1946972883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:58:40 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17374, writes 0 timeouts 0
2025-04-24 14:58:40 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36136/37088
2025-04-24 14:58:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:40 [info] currentZPosition:0.0653
2025-04-24 14:58:41 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:41 [debug] Diagnostics for board 50:
2025-04-24 14:58:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:46 ago, cause: software
2025-04-24 14:58:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:41 [debug] Moves scheduled 35054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1945912085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:58:41 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17821, writes 0 timeouts 0
2025-04-24 14:58:41 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36028/37077
2025-04-24 14:58:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:41 [info] currentZPosition:0.0651
2025-04-24 14:58:43 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:43 [debug] Diagnostics for board 50:
2025-04-24 14:58:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:48 ago, cause: software
2025-04-24 14:58:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:43 [debug] Moves scheduled 35058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1944895205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:58:43 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17044, writes 0 timeouts 0
2025-04-24 14:58:43 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36059/37161
2025-04-24 14:58:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:43 [info] currentZPosition:0.0653
2025-04-24 14:58:44 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:44 [debug] Diagnostics for board 50:
2025-04-24 14:58:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:49 ago, cause: software
2025-04-24 14:58:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:44 [debug] Moves scheduled 35062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1943829328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:44 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17899, writes 0 timeouts 0
2025-04-24 14:58:44 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36061/37095
2025-04-24 14:58:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:44 [info] currentZPosition:0.0648
2025-04-24 14:58:45 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:45 [debug] Diagnostics for board 50:
2025-04-24 14:58:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:50 ago, cause: software
2025-04-24 14:58:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:45 [debug] Moves scheduled 35066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1942821664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:58:45 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16962, writes 0 timeouts 0
2025-04-24 14:58:45 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36139/37122
2025-04-24 14:58:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:46 [info] currentZPosition:0.0657
2025-04-24 14:58:47 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:47 [debug] Diagnostics for board 50:
2025-04-24 14:58:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:00:52 ago, cause: software
2025-04-24 14:58:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:47 [debug] Moves scheduled 35070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1941767518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:58:47 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17631, writes 0 timeouts 0
2025-04-24 14:58:47 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36023/37160
2025-04-24 14:58:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8968, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:47 [info] currentZPosition:0.0660
2025-04-24 14:58:48 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:48 [debug] Diagnostics for board 50:
2025-04-24 14:58:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:53 ago, cause: software
2025-04-24 14:58:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:48 [debug] Moves scheduled 35074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1940715113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:58:48 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17645, writes 0 timeouts 0
2025-04-24 14:58:48 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36108/37149
2025-04-24 14:58:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:48 [info] currentZPosition:0.0643
2025-04-24 14:58:49 [debug] Stopped at height 0.063 mm
2025-04-24 14:58:50 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:50 [debug] Diagnostics for board 50:
2025-04-24 14:58:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:00:55 ago, cause: software
2025-04-24 14:58:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:50 [debug] Moves scheduled 35080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1939443731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:58:50 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21359, writes 0 timeouts 0
2025-04-24 14:58:50 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36064/37135
2025-04-24 14:58:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:50 [info] currentZPosition:0.0658
2025-04-24 14:58:50 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:52 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:52 [debug] Diagnostics for board 50:
2025-04-24 14:58:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:57 ago, cause: software
2025-04-24 14:58:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:52 [debug] Moves scheduled 35086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 83, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1938189233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:52 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21036, writes 0 timeouts 0
2025-04-24 14:58:52 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36068/37093
2025-04-24 14:58:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:52 [info] currentZPosition:0.0659
2025-04-24 14:58:52 [debug] Stopped at height 0.063 mm
2025-04-24 14:58:53 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:53 [debug] Diagnostics for board 50:
2025-04-24 14:58:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:00:58 ago, cause: software
2025-04-24 14:58:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:53 [debug] Moves scheduled 35092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 68, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1936864970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:58:53 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22220, writes 0 timeouts 0
2025-04-24 14:58:53 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36055/37137
2025-04-24 14:58:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:53 [info] currentZPosition:0.0640
2025-04-24 14:58:55 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:55 [debug] Diagnostics for board 50:
2025-04-24 14:58:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:00 ago, cause: software
2025-04-24 14:58:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:55 [debug] Moves scheduled 35096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1935868316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:58:55 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16728, writes 0 timeouts 0
2025-04-24 14:58:55 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36117/37157
2025-04-24 14:58:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:55 [info] currentZPosition:0.0657
2025-04-24 14:58:55 [debug] Stopped at height 0.064 mm
2025-04-24 14:58:56 [debug] Stopped at height 0.066 mm
2025-04-24 14:58:56 [debug] Diagnostics for board 50:
2025-04-24 14:58:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:01:01 ago, cause: software
2025-04-24 14:58:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:56 [debug] Moves scheduled 35102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 1934577196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 14:58:56 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21661, writes 0 timeouts 0
2025-04-24 14:58:56 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36067/37155
2025-04-24 14:58:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:57 [info] currentZPosition:0.0656
2025-04-24 14:58:57 [debug] Stopped at height 0.063 mm
2025-04-24 14:58:58 [debug] Stopped at height 0.065 mm
2025-04-24 14:58:58 [debug] Diagnostics for board 50:
2025-04-24 14:58:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:58:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:03 ago, cause: software
2025-04-24 14:58:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:58:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:58:58 [debug] Moves scheduled 35108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1933303754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:58:58 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21384, writes 0 timeouts 0
2025-04-24 14:58:58 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36068/37158
2025-04-24 14:58:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:58:58 [info] currentZPosition:0.0645
2025-04-24 14:59:00 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:00 [debug] Diagnostics for board 50:
2025-04-24 14:59:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:04 ago, cause: software
2025-04-24 14:59:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:00 [debug] Moves scheduled 35112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1932271420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:00 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17315, writes 0 timeouts 0
2025-04-24 14:59:00 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36039/37078
2025-04-24 14:59:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:00 [info] currentZPosition:0.0658
2025-04-24 14:59:00 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:01 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:01 [debug] Diagnostics for board 50:
2025-04-24 14:59:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:06 ago, cause: software
2025-04-24 14:59:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:01 [debug] Moves scheduled 35118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 87, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1931025973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:01 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20901, writes 0 timeouts 0
2025-04-24 14:59:01 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36118/37109
2025-04-24 14:59:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8947, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:01 [info] currentZPosition:0.0663
2025-04-24 14:59:02 [debug] Stopped at height 0.064 mm
2025-04-24 14:59:03 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:03 [debug] Diagnostics for board 50:
2025-04-24 14:59:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:01:08 ago, cause: software
2025-04-24 14:59:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:03 [debug] Moves scheduled 35124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1929727575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:59:03 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21777, writes 0 timeouts 0
2025-04-24 14:59:03 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36059/37129
2025-04-24 14:59:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:03 [info] currentZPosition:0.0659
2025-04-24 14:59:03 [debug] Stopped at height 0.064 mm
2025-04-24 14:59:05 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:05 [debug] Diagnostics for board 50:
2025-04-24 14:59:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:09 ago, cause: software
2025-04-24 14:59:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:05 [debug] Moves scheduled 35130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1928477546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:05 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20971, writes 0 timeouts 0
2025-04-24 14:59:05 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36156/37106
2025-04-24 14:59:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8960, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:05 [info] currentZPosition:0.0662
2025-04-24 14:59:05 [debug] Stopped at height 0.064 mm
2025-04-24 14:59:06 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:06 [debug] Diagnostics for board 50:
2025-04-24 14:59:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:11 ago, cause: software
2025-04-24 14:59:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:06 [debug] Moves scheduled 35136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1927183608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:59:06 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21707, writes 0 timeouts 0
2025-04-24 14:59:06 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36049/37111
2025-04-24 14:59:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:06 [info] currentZPosition:0.0659
2025-04-24 14:59:07 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:08 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:08 [debug] Diagnostics for board 50:
2025-04-24 14:59:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:13 ago, cause: software
2025-04-24 14:59:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:08 [debug] Moves scheduled 35142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1925933716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:08 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20978, writes 0 timeouts 0
2025-04-24 14:59:08 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36098/37148
2025-04-24 14:59:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:08 [info] currentZPosition:0.0661
2025-04-24 14:59:08 [debug] Stopped at height 0.064 mm
2025-04-24 14:59:10 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:10 [debug] Diagnostics for board 50:
2025-04-24 14:59:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:15 ago, cause: software
2025-04-24 14:59:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:10 [debug] Moves scheduled 35148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1924619805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:59:10 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22038, writes 0 timeouts 0
2025-04-24 14:59:10 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36055/37124
2025-04-24 14:59:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:10 [info] currentZPosition:0.0649
2025-04-24 14:59:11 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:11 [debug] Diagnostics for board 50:
2025-04-24 14:59:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:16 ago, cause: software
2025-04-24 14:59:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:11 [debug] Moves scheduled 35152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1923594527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:59:11 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17195, writes 0 timeouts 0
2025-04-24 14:59:11 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36064/37104
2025-04-24 14:59:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:11 [info] currentZPosition:0.0647
2025-04-24 14:59:12 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:12 [debug] Diagnostics for board 50:
2025-04-24 14:59:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:17 ago, cause: software
2025-04-24 14:59:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:12 [debug] Moves scheduled 35156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1922555535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:59:12 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17446, writes 0 timeouts 0
2025-04-24 14:59:12 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36053/37112
2025-04-24 14:59:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:13 [info] currentZPosition:0.0659
2025-04-24 14:59:14 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:14 [debug] Diagnostics for board 50:
2025-04-24 14:59:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:19 ago, cause: software
2025-04-24 14:59:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:14 [debug] Moves scheduled 35160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1921539480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:59:14 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17050, writes 0 timeouts 0
2025-04-24 14:59:14 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36099/37143
2025-04-24 14:59:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:14 [info] currentZPosition:0.0662
2025-04-24 14:59:15 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:15 [debug] Diagnostics for board 50:
2025-04-24 14:59:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:20 ago, cause: software
2025-04-24 14:59:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:15 [debug] Moves scheduled 35164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1920464850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:59:15 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18029, writes 0 timeouts 0
2025-04-24 14:59:15 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36050/37111
2025-04-24 14:59:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:15 [info] currentZPosition:0.0651
2025-04-24 14:59:17 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:17 [debug] Diagnostics for board 50:
2025-04-24 14:59:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:22 ago, cause: software
2025-04-24 14:59:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:17 [debug] Moves scheduled 35168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1919434434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 14:59:17 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17284, writes 0 timeouts 0
2025-04-24 14:59:17 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36131/37124
2025-04-24 14:59:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:17 [info] currentZPosition:0.0649
2025-04-24 14:59:18 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:18 [debug] Diagnostics for board 50:
2025-04-24 14:59:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:01:23 ago, cause: software
2025-04-24 14:59:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:18 [debug] Moves scheduled 35172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1918370948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:18 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17854, writes 0 timeouts 0
2025-04-24 14:59:18 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37113
2025-04-24 14:59:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:18 [info] currentZPosition:0.0647
2025-04-24 14:59:19 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:19 [debug] Diagnostics for board 50:
2025-04-24 14:59:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:24 ago, cause: software
2025-04-24 14:59:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:19 [debug] Moves scheduled 35176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1917380612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:59:19 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16621, writes 0 timeouts 0
2025-04-24 14:59:19 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36088/37130
2025-04-24 14:59:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:19 [info] currentZPosition:0.0663
2025-04-24 14:59:20 [debug] Stopped at height 0.064 mm
2025-04-24 14:59:21 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:21 [debug] Diagnostics for board 50:
2025-04-24 14:59:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:26 ago, cause: software
2025-04-24 14:59:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:21 [debug] Moves scheduled 35182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1916057105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:21 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22204, writes 0 timeouts 0
2025-04-24 14:59:21 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36014/37144
2025-04-24 14:59:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:21 [info] currentZPosition:0.0646
2025-04-24 14:59:22 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:22 [debug] Diagnostics for board 50:
2025-04-24 14:59:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:27 ago, cause: software
2025-04-24 14:59:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:22 [debug] Moves scheduled 35186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1915072748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:22 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16538, writes 0 timeouts 0
2025-04-24 14:59:22 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36189/37160
2025-04-24 14:59:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:23 [info] currentZPosition:0.0666
2025-04-24 14:59:23 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:24 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:24 [debug] Diagnostics for board 50:
2025-04-24 14:59:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:01:29 ago, cause: software
2025-04-24 14:59:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:24 [debug] Moves scheduled 35192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1913780116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:59:24 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21689, writes 0 timeouts 0
2025-04-24 14:59:24 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36007/37136
2025-04-24 14:59:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:24 [info] currentZPosition:0.0666
2025-04-24 14:59:25 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:26 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:26 [debug] Diagnostics for board 50:
2025-04-24 14:59:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:31 ago, cause: software
2025-04-24 14:59:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:26 [debug] Moves scheduled 35198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1912523831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:59:26 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21049, writes 0 timeouts 0
2025-04-24 14:59:26 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36294/37147
2025-04-24 14:59:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:26 [info] currentZPosition:0.0666
2025-04-24 14:59:27 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:27 [debug] Diagnostics for board 50:
2025-04-24 14:59:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:32 ago, cause: software
2025-04-24 14:59:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:27 [debug] Moves scheduled 35202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1911453009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:27 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17969, writes 0 timeouts 0
2025-04-24 14:59:27 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35999/37121
2025-04-24 14:59:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:27 [info] currentZPosition:0.0657
2025-04-24 14:59:29 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:29 [debug] Diagnostics for board 50:
2025-04-24 14:59:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:33 ago, cause: software
2025-04-24 14:59:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:29 [debug] Moves scheduled 35206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1910452316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:29 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16830, writes 0 timeouts 0
2025-04-24 14:59:29 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36350/37114
2025-04-24 14:59:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:29 [info] currentZPosition:0.0670
2025-04-24 14:59:29 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:30 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:30 [debug] Diagnostics for board 50:
2025-04-24 14:59:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:35 ago, cause: software
2025-04-24 14:59:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:30 [debug] Moves scheduled 35212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1909141345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:30 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21964, writes 0 timeouts 0
2025-04-24 14:59:30 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36044/37123
2025-04-24 14:59:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:30 [info] currentZPosition:0.0659
2025-04-24 14:59:32 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:32 [debug] Diagnostics for board 50:
2025-04-24 14:59:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:37 ago, cause: software
2025-04-24 14:59:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:32 [debug] Moves scheduled 35216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 95, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1908119242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:59:32 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17142, writes 0 timeouts 0
2025-04-24 14:59:32 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36310/37161
2025-04-24 14:59:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:32 [info] currentZPosition:0.0660
2025-04-24 14:59:33 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:33 [debug] Diagnostics for board 50:
2025-04-24 14:59:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:38 ago, cause: software
2025-04-24 14:59:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:33 [debug] Moves scheduled 35220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1907056046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:33 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17882, writes 0 timeouts 0
2025-04-24 14:59:33 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37118
2025-04-24 14:59:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:33 [info] currentZPosition:0.0658
2025-04-24 14:59:34 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:34 [debug] Diagnostics for board 50:
2025-04-24 14:59:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:39 ago, cause: software
2025-04-24 14:59:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:34 [debug] Moves scheduled 35224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1906035931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:34 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17088, writes 0 timeouts 0
2025-04-24 14:59:34 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36371/37127
2025-04-24 14:59:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:35 [info] currentZPosition:0.0660
2025-04-24 14:59:36 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:36 [debug] Diagnostics for board 50:
2025-04-24 14:59:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:41 ago, cause: software
2025-04-24 14:59:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:36 [debug] Moves scheduled 35228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1904997420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:36 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17431, writes 0 timeouts 0
2025-04-24 14:59:36 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36012/37154
2025-04-24 14:59:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:36 [info] currentZPosition:0.0670
2025-04-24 14:59:37 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:37 [debug] Diagnostics for board 50:
2025-04-24 14:59:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:42 ago, cause: software
2025-04-24 14:59:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:37 [debug] Moves scheduled 35232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1903967425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:59:37 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17301, writes 0 timeouts 0
2025-04-24 14:59:37 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36330/37088
2025-04-24 14:59:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:37 [info] currentZPosition:0.0668
2025-04-24 14:59:39 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:39 [debug] Diagnostics for board 50:
2025-04-24 14:59:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:44 ago, cause: software
2025-04-24 14:59:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:39 [debug] Moves scheduled 35236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1902901070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 14:59:39 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17868, writes 0 timeouts 0
2025-04-24 14:59:39 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36057/37143
2025-04-24 14:59:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:39 [info] currentZPosition:0.0663
2025-04-24 14:59:40 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:40 [debug] Diagnostics for board 50:
2025-04-24 14:59:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:45 ago, cause: software
2025-04-24 14:59:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:40 [debug] Moves scheduled 35240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1901862820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 14:59:40 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17418, writes 0 timeouts 0
2025-04-24 14:59:40 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36304/37077
2025-04-24 14:59:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:40 [info] currentZPosition:0.0654
2025-04-24 14:59:41 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:41 [debug] Diagnostics for board 50:
2025-04-24 14:59:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:01:46 ago, cause: software
2025-04-24 14:59:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:41 [debug] Moves scheduled 35244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1900830101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:59:41 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17378, writes 0 timeouts 0
2025-04-24 14:59:41 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36029/37139
2025-04-24 14:59:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:42 [info] currentZPosition:0.0665
2025-04-24 14:59:43 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:43 [debug] Diagnostics for board 50:
2025-04-24 14:59:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:48 ago, cause: software
2025-04-24 14:59:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:43 [debug] Moves scheduled 35248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 80, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1899792074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:43 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17376, writes 0 timeouts 0
2025-04-24 14:59:43 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36307/37146
2025-04-24 14:59:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:43 [info] currentZPosition:0.0658
2025-04-24 14:59:44 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:44 [debug] Diagnostics for board 50:
2025-04-24 14:59:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:49 ago, cause: software
2025-04-24 14:59:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:44 [debug] Moves scheduled 35252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1898722049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 14:59:44 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17948, writes 0 timeouts 0
2025-04-24 14:59:44 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36011/37156
2025-04-24 14:59:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:44 [info] currentZPosition:0.0653
2025-04-24 14:59:46 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:46 [debug] Diagnostics for board 50:
2025-04-24 14:59:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:50 ago, cause: software
2025-04-24 14:59:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:46 [debug] Moves scheduled 35256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1897723595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:46 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16778, writes 0 timeouts 0
2025-04-24 14:59:46 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36352/37134
2025-04-24 14:59:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:46 [info] currentZPosition:0.0665
2025-04-24 14:59:47 [debug] Stopped at height 0.065 mm
2025-04-24 14:59:47 [debug] Diagnostics for board 50:
2025-04-24 14:59:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:52 ago, cause: software
2025-04-24 14:59:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:47 [debug] Moves scheduled 35260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1896640208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 14:59:47 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18138, writes 0 timeouts 0
2025-04-24 14:59:47 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36084/37103
2025-04-24 14:59:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:47 [info] currentZPosition:0.0652
2025-04-24 14:59:47 [debug] Stopped at height 0.064 mm
2025-04-24 14:59:49 [debug] Stopped at height 0.066 mm
2025-04-24 14:59:49 [debug] Diagnostics for board 50:
2025-04-24 14:59:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:54 ago, cause: software
2025-04-24 14:59:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:49 [debug] Moves scheduled 35266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1895389135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:49 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21006, writes 0 timeouts 0
2025-04-24 14:59:49 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36347/37101
2025-04-24 14:59:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:49 [info] currentZPosition:0.0660
2025-04-24 14:59:50 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:50 [debug] Diagnostics for board 50:
2025-04-24 14:59:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:55 ago, cause: software
2025-04-24 14:59:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:50 [debug] Moves scheduled 35270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1894342817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:50 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17554, writes 0 timeouts 0
2025-04-24 14:59:50 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 333, adv 36066/37161
2025-04-24 14:59:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:50 [info] currentZPosition:0.0667
2025-04-24 14:59:51 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:51 [debug] Diagnostics for board 50:
2025-04-24 14:59:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:56 ago, cause: software
2025-04-24 14:59:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:51 [debug] Moves scheduled 35274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1893328976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 14:59:51 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 14:59:51 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36401/37124
2025-04-24 14:59:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:52 [info] currentZPosition:0.0673
2025-04-24 14:59:53 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:53 [debug] Diagnostics for board 50:
2025-04-24 14:59:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:01:58 ago, cause: software
2025-04-24 14:59:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:53 [debug] Moves scheduled 35278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1892265485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:53 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17846, writes 0 timeouts 0
2025-04-24 14:59:53 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36052/37118
2025-04-24 14:59:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:53 [info] currentZPosition:0.0670
2025-04-24 14:59:54 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:54 [debug] Diagnostics for board 50:
2025-04-24 14:59:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:01:59 ago, cause: software
2025-04-24 14:59:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:54 [debug] Moves scheduled 35282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1891239717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 14:59:54 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17210, writes 0 timeouts 0
2025-04-24 14:59:54 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36319/37134
2025-04-24 14:59:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:54 [info] currentZPosition:0.0670
2025-04-24 14:59:56 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:56 [debug] Diagnostics for board 50:
2025-04-24 14:59:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:01 ago, cause: software
2025-04-24 14:59:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:56 [debug] Moves scheduled 35286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1890184152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:56 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17726, writes 0 timeouts 0
2025-04-24 14:59:56 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36070/37104
2025-04-24 14:59:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:56 [info] currentZPosition:0.0671
2025-04-24 14:59:57 [debug] Stopped at height 0.068 mm
2025-04-24 14:59:57 [debug] Diagnostics for board 50:
2025-04-24 14:59:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:02 ago, cause: software
2025-04-24 14:59:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:57 [debug] Moves scheduled 35290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=62, frequency (Hz): min=9740, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1889168360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 14:59:57 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17051, writes 0 timeouts 0
2025-04-24 14:59:57 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36353/37074
2025-04-24 14:59:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8950, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:57 [info] currentZPosition:0.0676
2025-04-24 14:59:58 [debug] Stopped at height 0.067 mm
2025-04-24 14:59:58 [debug] Diagnostics for board 50:
2025-04-24 14:59:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 14:59:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:02:03 ago, cause: software
2025-04-24 14:59:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 14:59:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 14:59:58 [debug] Moves scheduled 35294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 75, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1888094603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 14:59:58 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18006, writes 0 timeouts 0
2025-04-24 14:59:58 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36058/37132
2025-04-24 14:59:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 14:59:59 [info] currentZPosition:0.0667
2025-04-24 15:00:00 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:00 [debug] Diagnostics for board 50:
2025-04-24 15:00:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:05 ago, cause: software
2025-04-24 15:00:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:00 [debug] Moves scheduled 35298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1887076469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:00 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17091, writes 0 timeouts 0
2025-04-24 15:00:00 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36349/37095
2025-04-24 15:00:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:00 [info] currentZPosition:0.0669
2025-04-24 15:00:01 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:01 [debug] Diagnostics for board 50:
2025-04-24 15:00:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:06 ago, cause: software
2025-04-24 15:00:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:01 [debug] Moves scheduled 35302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1886011402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:01 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17892, writes 0 timeouts 0
2025-04-24 15:00:01 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36022/37150
2025-04-24 15:00:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:01 [info] currentZPosition:0.0665
2025-04-24 15:00:03 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:03 [debug] Diagnostics for board 50:
2025-04-24 15:00:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:07 ago, cause: software
2025-04-24 15:00:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:03 [debug] Moves scheduled 35306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1884989447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:03 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17132, writes 0 timeouts 0
2025-04-24 15:00:03 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36329/37124
2025-04-24 15:00:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:03 [info] currentZPosition:0.0667
2025-04-24 15:00:04 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:04 [debug] Diagnostics for board 50:
2025-04-24 15:00:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:09 ago, cause: software
2025-04-24 15:00:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:04 [debug] Moves scheduled 35310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1883950841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:04 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17420, writes 0 timeouts 0
2025-04-24 15:00:04 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36049/37096
2025-04-24 15:00:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8996, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 821
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:04 [info] currentZPosition:0.0676
2025-04-24 15:00:05 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:05 [debug] Diagnostics for board 50:
2025-04-24 15:00:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:10 ago, cause: software
2025-04-24 15:00:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:05 [debug] Moves scheduled 35314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1882914608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:05 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17390, writes 0 timeouts 0
2025-04-24 15:00:05 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36294/37076
2025-04-24 15:00:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:05 [info] currentZPosition:0.0669
2025-04-24 15:00:07 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:07 [debug] Diagnostics for board 50:
2025-04-24 15:00:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:12 ago, cause: software
2025-04-24 15:00:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:07 [debug] Moves scheduled 35318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1881841312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:00:07 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18007, writes 0 timeouts 0
2025-04-24 15:00:07 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36008/37147
2025-04-24 15:00:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:07 [info] currentZPosition:0.0662
2025-04-24 15:00:08 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:08 [debug] Diagnostics for board 50:
2025-04-24 15:00:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:02:13 ago, cause: software
2025-04-24 15:00:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:08 [debug] Moves scheduled 35322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 80, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1880820045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:08 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17135, writes 0 timeouts 0
2025-04-24 15:00:08 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36332/37106
2025-04-24 15:00:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:08 [info] currentZPosition:0.0662
2025-04-24 15:00:10 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:10 [debug] Diagnostics for board 50:
2025-04-24 15:00:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:14 ago, cause: software
2025-04-24 15:00:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:10 [debug] Moves scheduled 35326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 79, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1879772978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:10 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17578, writes 0 timeouts 0
2025-04-24 15:00:10 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36012/37115
2025-04-24 15:00:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:10 [info] currentZPosition:0.0668
2025-04-24 15:00:11 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:11 [debug] Diagnostics for board 50:
2025-04-24 15:00:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:16 ago, cause: software
2025-04-24 15:00:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:11 [debug] Moves scheduled 35330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1878723220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:00:11 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17600, writes 0 timeouts 0
2025-04-24 15:00:11 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36350/37117
2025-04-24 15:00:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:11 [info] currentZPosition:0.0655
2025-04-24 15:00:11 [debug] Stopped at height 0.064 mm
2025-04-24 15:00:13 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:13 [debug] Diagnostics for board 50:
2025-04-24 15:00:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:18 ago, cause: software
2025-04-24 15:00:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:13 [debug] Moves scheduled 35336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 66, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1877443677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:13 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21492, writes 0 timeouts 0
2025-04-24 15:00:13 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36007/37120
2025-04-24 15:00:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:13 [info] currentZPosition:0.0668
2025-04-24 15:00:13 [debug] Stopped at height 0.065 mm
2025-04-24 15:00:14 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:14 [debug] Diagnostics for board 50:
2025-04-24 15:00:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:19 ago, cause: software
2025-04-24 15:00:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:14 [debug] Moves scheduled 35342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1876186230 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:14 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21088, writes 0 timeouts 0
2025-04-24 15:00:14 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36309/37123
2025-04-24 15:00:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:14 [info] currentZPosition:0.0667
2025-04-24 15:00:15 [debug] Stopped at height 0.065 mm
2025-04-24 15:00:16 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:16 [debug] Diagnostics for board 50:
2025-04-24 15:00:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:21 ago, cause: software
2025-04-24 15:00:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:16 [debug] Moves scheduled 35348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1874921022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:16 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21231, writes 0 timeouts 0
2025-04-24 15:00:16 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36015/37097
2025-04-24 15:00:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:16 [info] currentZPosition:0.0679
2025-04-24 15:00:16 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:18 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:18 [debug] Diagnostics for board 50:
2025-04-24 15:00:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:23 ago, cause: software
2025-04-24 15:00:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:18 [debug] Moves scheduled 35354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1873628877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:18 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21683, writes 0 timeouts 0
2025-04-24 15:00:18 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36203/37117
2025-04-24 15:00:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:18 [info] currentZPosition:0.0669
2025-04-24 15:00:19 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:19 [debug] Diagnostics for board 50:
2025-04-24 15:00:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:24 ago, cause: software
2025-04-24 15:00:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:19 [debug] Moves scheduled 35358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1872584746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:19 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17529, writes 0 timeouts 0
2025-04-24 15:00:19 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36051/37103
2025-04-24 15:00:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:19 [info] currentZPosition:0.0677
2025-04-24 15:00:20 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:20 [debug] Diagnostics for board 50:
2025-04-24 15:00:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:25 ago, cause: software
2025-04-24 15:00:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:20 [debug] Moves scheduled 35362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1871532141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:20 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17651, writes 0 timeouts 0
2025-04-24 15:00:20 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36087/37084
2025-04-24 15:00:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:21 [info] currentZPosition:0.0661
2025-04-24 15:00:21 [debug] Stopped at height 0.065 mm
2025-04-24 15:00:22 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:22 [debug] Diagnostics for board 50:
2025-04-24 15:00:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:02:27 ago, cause: software
2025-04-24 15:00:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:22 [debug] Moves scheduled 35368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1870245690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:22 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21592, writes 0 timeouts 0
2025-04-24 15:00:22 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36009/37139
2025-04-24 15:00:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:22 [info] currentZPosition:0.0669
2025-04-24 15:00:23 [debug] Stopped at height 0.065 mm
2025-04-24 15:00:24 [debug] Stopped at height 0.069 mm
2025-04-24 15:00:24 [debug] Diagnostics for board 50:
2025-04-24 15:00:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:29 ago, cause: software
2025-04-24 15:00:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:24 [debug] Moves scheduled 35374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1869020277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:24 [debug] Driver 0: pos -3488, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20556, writes 0 timeouts 0
2025-04-24 15:00:24 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36130/37133
2025-04-24 15:00:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:24 [info] currentZPosition:0.0687
2025-04-24 15:00:24 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:25 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:26 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:26 [debug] Diagnostics for board 50:
2025-04-24 15:00:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:31 ago, cause: software
2025-04-24 15:00:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:26 [debug] Moves scheduled 35382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1867464110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:26 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26119, writes 0 timeouts 0
2025-04-24 15:00:26 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35998/37131
2025-04-24 15:00:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:26 [info] currentZPosition:0.0678
2025-04-24 15:00:26 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:28 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:28 [debug] Diagnostics for board 50:
2025-04-24 15:00:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:33 ago, cause: software
2025-04-24 15:00:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:28 [debug] Moves scheduled 35388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1866177686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:28 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21598, writes 0 timeouts 0
2025-04-24 15:00:28 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36104/37153
2025-04-24 15:00:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:28 [info] currentZPosition:0.0661
2025-04-24 15:00:29 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:29 [debug] Diagnostics for board 50:
2025-04-24 15:00:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:02:34 ago, cause: software
2025-04-24 15:00:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:29 [debug] Moves scheduled 35392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1865127287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:29 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17610, writes 0 timeouts 0
2025-04-24 15:00:29 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35997/37121
2025-04-24 15:00:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:29 [info] currentZPosition:0.0664
2025-04-24 15:00:30 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:30 [debug] Diagnostics for board 50:
2025-04-24 15:00:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:35 ago, cause: software
2025-04-24 15:00:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:30 [debug] Moves scheduled 35396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1864108451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:00:30 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17094, writes 0 timeouts 0
2025-04-24 15:00:30 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36082/37132
2025-04-24 15:00:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:30 [info] currentZPosition:0.0665
2025-04-24 15:00:32 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:32 [debug] Diagnostics for board 50:
2025-04-24 15:00:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:37 ago, cause: software
2025-04-24 15:00:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:32 [debug] Moves scheduled 35400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1863073305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:32 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17391, writes 0 timeouts 0
2025-04-24 15:00:32 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36036/37110
2025-04-24 15:00:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8971, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:32 [info] currentZPosition:0.0676
2025-04-24 15:00:33 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:33 [debug] Diagnostics for board 50:
2025-04-24 15:00:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:38 ago, cause: software
2025-04-24 15:00:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:33 [debug] Moves scheduled 35404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1862063088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:33 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16916, writes 0 timeouts 0
2025-04-24 15:00:33 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36129/37133
2025-04-24 15:00:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8993, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:33 [info] currentZPosition:0.0683
2025-04-24 15:00:35 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:35 [debug] Diagnostics for board 50:
2025-04-24 15:00:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:39 ago, cause: software
2025-04-24 15:00:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:35 [debug] Moves scheduled 35408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1860967056 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:35 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18401, writes 0 timeouts 0
2025-04-24 15:00:35 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36082/37155
2025-04-24 15:00:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:35 [info] currentZPosition:0.0663
2025-04-24 15:00:35 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:36 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:36 [debug] Diagnostics for board 50:
2025-04-24 15:00:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:41 ago, cause: software
2025-04-24 15:00:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:36 [debug] Moves scheduled 35414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1859747317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:36 [debug] Driver 0: pos -3490, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20484, writes 0 timeouts 0
2025-04-24 15:00:36 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36117/37116
2025-04-24 15:00:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8951, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:36 [info] currentZPosition:0.0685
2025-04-24 15:00:37 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:38 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:38 [debug] Diagnostics for board 50:
2025-04-24 15:00:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:43 ago, cause: software
2025-04-24 15:00:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:38 [debug] Moves scheduled 35420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1858416405 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:38 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22313, writes 0 timeouts 0
2025-04-24 15:00:38 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36056/37158
2025-04-24 15:00:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:38 [info] currentZPosition:0.0664
2025-04-24 15:00:39 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:39 [debug] Diagnostics for board 50:
2025-04-24 15:00:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:44 ago, cause: software
2025-04-24 15:00:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:39 [debug] Moves scheduled 35424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter -1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1857415555 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:00:39 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16775, writes 0 timeouts 0
2025-04-24 15:00:39 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36143/37103
2025-04-24 15:00:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:39 [info] currentZPosition:0.0677
2025-04-24 15:00:40 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:41 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:41 [debug] Diagnostics for board 50:
2025-04-24 15:00:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:46 ago, cause: software
2025-04-24 15:00:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:41 [debug] Moves scheduled 35430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1856133353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:41 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21550, writes 0 timeouts 0
2025-04-24 15:00:41 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35994/37133
2025-04-24 15:00:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:41 [info] currentZPosition:0.0679
2025-04-24 15:00:42 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:42 [debug] Diagnostics for board 50:
2025-04-24 15:00:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:47 ago, cause: software
2025-04-24 15:00:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:42 [debug] Moves scheduled 35434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1855091252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:42 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17477, writes 0 timeouts 0
2025-04-24 15:00:42 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36133/37153
2025-04-24 15:00:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:43 [info] currentZPosition:0.0669
2025-04-24 15:00:44 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:44 [debug] Diagnostics for board 50:
2025-04-24 15:00:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:49 ago, cause: software
2025-04-24 15:00:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:44 [debug] Moves scheduled 35438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1854055414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:44 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17351, writes 0 timeouts 0
2025-04-24 15:00:44 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36060/37091
2025-04-24 15:00:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8995, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:44 [info] currentZPosition:0.0682
2025-04-24 15:00:44 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:45 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:45 [debug] Diagnostics for board 50:
2025-04-24 15:00:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:50 ago, cause: software
2025-04-24 15:00:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:45 [debug] Moves scheduled 35444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1852793072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:00:45 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21185, writes 0 timeouts 0
2025-04-24 15:00:45 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36096/37118
2025-04-24 15:00:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:46 [info] currentZPosition:0.0679
2025-04-24 15:00:47 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:47 [debug] Diagnostics for board 50:
2025-04-24 15:00:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:52 ago, cause: software
2025-04-24 15:00:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:47 [debug] Moves scheduled 35448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1851734008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:47 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17784, writes 0 timeouts 0
2025-04-24 15:00:47 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36023/37156
2025-04-24 15:00:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:47 [info] currentZPosition:0.0679
2025-04-24 15:00:48 [debug] Stopped at height 0.069 mm
2025-04-24 15:00:48 [debug] Diagnostics for board 50:
2025-04-24 15:00:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:02:53 ago, cause: software
2025-04-24 15:00:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:48 [debug] Moves scheduled 35452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1850722847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:00:48 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16963, writes 0 timeouts 0
2025-04-24 15:00:48 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36071/37092
2025-04-24 15:00:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8975, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:48 [info] currentZPosition:0.0686
2025-04-24 15:00:50 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:50 [debug] Diagnostics for board 50:
2025-04-24 15:00:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:02:55 ago, cause: software
2025-04-24 15:00:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:50 [debug] Moves scheduled 35456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1849630529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:00:50 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18330, writes 0 timeouts 0
2025-04-24 15:00:50 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36018/37099
2025-04-24 15:00:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:50 [info] currentZPosition:0.0667
2025-04-24 15:00:50 [debug] Stopped at height 0.067 mm
2025-04-24 15:00:51 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:51 [debug] Diagnostics for board 50:
2025-04-24 15:00:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:02:56 ago, cause: software
2025-04-24 15:00:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:51 [debug] Moves scheduled 35462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1848398585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:51 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20672, writes 0 timeouts 0
2025-04-24 15:00:51 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36160/37121
2025-04-24 15:00:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:51 [info] currentZPosition:0.0681
2025-04-24 15:00:52 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:53 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:53 [debug] Diagnostics for board 50:
2025-04-24 15:00:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:02:58 ago, cause: software
2025-04-24 15:00:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:53 [debug] Moves scheduled 35468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1847104794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:00:53 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21707, writes 0 timeouts 0
2025-04-24 15:00:53 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36052/37125
2025-04-24 15:00:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:53 [info] currentZPosition:0.0680
2025-04-24 15:00:54 [debug] Stopped at height 0.066 mm
2025-04-24 15:00:55 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:55 [debug] Diagnostics for board 50:
2025-04-24 15:00:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:00 ago, cause: software
2025-04-24 15:00:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:55 [debug] Moves scheduled 35474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1845855261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:00:55 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20970, writes 0 timeouts 0
2025-04-24 15:00:55 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36148/37146
2025-04-24 15:00:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:55 [info] currentZPosition:0.0682
2025-04-24 15:00:55 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:56 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:56 [debug] Diagnostics for board 50:
2025-04-24 15:00:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:01 ago, cause: software
2025-04-24 15:00:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:56 [debug] Moves scheduled 35480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1844548464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:00:56 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21944, writes 0 timeouts 0
2025-04-24 15:00:56 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36013/37104
2025-04-24 15:00:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:57 [info] currentZPosition:0.0676
2025-04-24 15:00:58 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:58 [debug] Diagnostics for board 50:
2025-04-24 15:00:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:03 ago, cause: software
2025-04-24 15:00:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:58 [debug] Moves scheduled 35484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1843531042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:00:58 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17061, writes 0 timeouts 0
2025-04-24 15:00:58 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36067/37115
2025-04-24 15:00:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:58 [info] currentZPosition:0.0679
2025-04-24 15:00:59 [debug] Stopped at height 0.068 mm
2025-04-24 15:00:59 [debug] Diagnostics for board 50:
2025-04-24 15:00:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:00:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:04 ago, cause: software
2025-04-24 15:00:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:00:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:00:59 [debug] Moves scheduled 35488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15306
Sync err accum 88, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1842478288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:00:59 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17649, writes 0 timeouts 0
2025-04-24 15:00:59 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36053/37115
2025-04-24 15:00:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:00:59 [info] currentZPosition:0.0681
2025-04-24 15:01:01 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:01 [debug] Diagnostics for board 50:
2025-04-24 15:01:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:06 ago, cause: software
2025-04-24 15:01:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:01 [debug] Moves scheduled 35492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1841444156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:01:01 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17353, writes 0 timeouts 0
2025-04-24 15:01:01 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36078/37091
2025-04-24 15:01:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:01 [info] currentZPosition:0.0674
2025-04-24 15:01:02 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:02 [debug] Diagnostics for board 50:
2025-04-24 15:01:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:07 ago, cause: software
2025-04-24 15:01:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:02 [debug] Moves scheduled 35496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1840407103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:02 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17406, writes 0 timeouts 0
2025-04-24 15:01:02 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36030/37108
2025-04-24 15:01:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:02 [info] currentZPosition:0.0686
2025-04-24 15:01:03 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:03 [debug] Diagnostics for board 50:
2025-04-24 15:01:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:08 ago, cause: software
2025-04-24 15:01:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:03 [debug] Moves scheduled 35500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1839367841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:01:03 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17444, writes 0 timeouts 0
2025-04-24 15:01:03 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36112/37122
2025-04-24 15:01:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:03 [info] currentZPosition:0.0676
2025-04-24 15:01:05 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:05 [debug] Diagnostics for board 50:
2025-04-24 15:01:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:10 ago, cause: software
2025-04-24 15:01:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:05 [debug] Moves scheduled 35504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 108, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1838329343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:05 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17432, writes 0 timeouts 0
2025-04-24 15:01:05 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36090/37153
2025-04-24 15:01:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:05 [info] currentZPosition:0.0685
2025-04-24 15:01:06 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:06 [debug] Diagnostics for board 50:
2025-04-24 15:01:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:11 ago, cause: software
2025-04-24 15:01:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:06 [debug] Moves scheduled 35508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 110, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1837282792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:06 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17554, writes 0 timeouts 0
2025-04-24 15:01:06 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36071/37168
2025-04-24 15:01:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:06 [info] currentZPosition:0.0671
2025-04-24 15:01:07 [debug] Stopped at height 0.066 mm
2025-04-24 15:01:08 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:08 [debug] Diagnostics for board 50:
2025-04-24 15:01:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:13 ago, cause: software
2025-04-24 15:01:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:08 [debug] Moves scheduled 35514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1835992270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:08 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21665, writes 0 timeouts 0
2025-04-24 15:01:08 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36034/37116
2025-04-24 15:01:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:08 [info] currentZPosition:0.0680
2025-04-24 15:01:08 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:10 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:10 [debug] Diagnostics for board 50:
2025-04-24 15:01:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:14 ago, cause: software
2025-04-24 15:01:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:10 [debug] Moves scheduled 35520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1834734957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:10 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21077, writes 0 timeouts 0
2025-04-24 15:01:10 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36067/37171
2025-04-24 15:01:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:10 [info] currentZPosition:0.0678
2025-04-24 15:01:11 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:11 [debug] Diagnostics for board 50:
2025-04-24 15:01:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:16 ago, cause: software
2025-04-24 15:01:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:11 [debug] Moves scheduled 35524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1833695521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:11 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17451, writes 0 timeouts 0
2025-04-24 15:01:11 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36037/37127
2025-04-24 15:01:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:11 [info] currentZPosition:0.0688
2025-04-24 15:01:12 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:12 [debug] Diagnostics for board 50:
2025-04-24 15:01:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:17 ago, cause: software
2025-04-24 15:01:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:12 [debug] Moves scheduled 35528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1832637509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:12 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17744, writes 0 timeouts 0
2025-04-24 15:01:12 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36076/37174
2025-04-24 15:01:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:12 [info] currentZPosition:0.0669
2025-04-24 15:01:13 [debug] Stopped at height 0.066 mm
2025-04-24 15:01:14 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:14 [debug] Diagnostics for board 50:
2025-04-24 15:01:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:19 ago, cause: software
2025-04-24 15:01:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:14 [debug] Moves scheduled 35534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1831356836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:14 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21490, writes 0 timeouts 0
2025-04-24 15:01:14 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37121
2025-04-24 15:01:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:14 [info] currentZPosition:0.0679
2025-04-24 15:01:15 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:16 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:16 [debug] Diagnostics for board 50:
2025-04-24 15:01:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:21 ago, cause: software
2025-04-24 15:01:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:16 [debug] Moves scheduled 35540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1830110819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:01:16 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20922, writes 0 timeouts 0
2025-04-24 15:01:16 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36185/37118
2025-04-24 15:01:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9014, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:16 [info] currentZPosition:0.0685
2025-04-24 15:01:16 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:17 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:17 [debug] Diagnostics for board 50:
2025-04-24 15:01:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:22 ago, cause: software
2025-04-24 15:01:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:17 [debug] Moves scheduled 35546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1828827838 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:01:17 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21512, writes 0 timeouts 0
2025-04-24 15:01:17 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36093/37153
2025-04-24 15:01:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:18 [info] currentZPosition:0.0689
2025-04-24 15:01:18 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:19 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:19 [debug] Diagnostics for board 50:
2025-04-24 15:01:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:24 ago, cause: software
2025-04-24 15:01:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:19 [debug] Moves scheduled 35552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1827567561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:01:19 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21162, writes 0 timeouts 0
2025-04-24 15:01:19 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36298/37159
2025-04-24 15:01:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:19 [info] currentZPosition:0.0686
2025-04-24 15:01:21 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:21 [debug] Diagnostics for board 50:
2025-04-24 15:01:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:25 ago, cause: software
2025-04-24 15:01:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:21 [debug] Moves scheduled 35556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1826489604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:21 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18076, writes 0 timeouts 0
2025-04-24 15:01:21 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36036/37108
2025-04-24 15:01:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:21 [info] currentZPosition:0.0675
2025-04-24 15:01:22 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:22 [debug] Diagnostics for board 50:
2025-04-24 15:01:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:27 ago, cause: software
2025-04-24 15:01:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:22 [debug] Moves scheduled 35560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 109, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1825472161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:22 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17074, writes 0 timeouts 0
2025-04-24 15:01:22 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36347/37163
2025-04-24 15:01:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:22 [info] currentZPosition:0.0680
2025-04-24 15:01:23 [debug] Stopped at height 0.066 mm
2025-04-24 15:01:23 [debug] Diagnostics for board 50:
2025-04-24 15:01:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:28 ago, cause: software
2025-04-24 15:01:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:23 [debug] Moves scheduled 35564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1824381513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:23 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18308, writes 0 timeouts 0
2025-04-24 15:01:23 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36002/37092
2025-04-24 15:01:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:23 [info] currentZPosition:0.0662
2025-04-24 15:01:24 [debug] Stopped at height 0.065 mm
2025-04-24 15:01:25 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:25 [debug] Diagnostics for board 50:
2025-04-24 15:01:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:03:30 ago, cause: software
2025-04-24 15:01:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:25 [debug] Moves scheduled 35570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1823124809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:01:25 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21055, writes 0 timeouts 0
2025-04-24 15:01:25 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36310/37123
2025-04-24 15:01:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:25 [info] currentZPosition:0.0669
2025-04-24 15:01:26 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:26 [debug] Diagnostics for board 50:
2025-04-24 15:01:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:31 ago, cause: software
2025-04-24 15:01:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:26 [debug] Moves scheduled 35574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1822116684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:26 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16932, writes 0 timeouts 0
2025-04-24 15:01:26 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 35987/37092
2025-04-24 15:01:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:26 [info] currentZPosition:0.0695
2025-04-24 15:01:27 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:28 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:28 [debug] Diagnostics for board 50:
2025-04-24 15:01:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:33 ago, cause: software
2025-04-24 15:01:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:28 [debug] Moves scheduled 35580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1820810173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:28 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21933, writes 0 timeouts 0
2025-04-24 15:01:28 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36333/37174
2025-04-24 15:01:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:28 [info] currentZPosition:0.0672
2025-04-24 15:01:29 [debug] Stopped at height 0.066 mm
2025-04-24 15:01:30 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:30 [debug] Diagnostics for board 50:
2025-04-24 15:01:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:35 ago, cause: software
2025-04-24 15:01:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:30 [debug] Moves scheduled 35586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1819538235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:01:30 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21319, writes 0 timeouts 0
2025-04-24 15:01:30 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35876/37155
2025-04-24 15:01:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:30 [info] currentZPosition:0.0689
2025-04-24 15:01:30 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:32 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:32 [debug] Diagnostics for board 50:
2025-04-24 15:01:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:36 ago, cause: software
2025-04-24 15:01:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:32 [debug] Moves scheduled 35592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15306
Sync err accum 60, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1818255098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:01:32 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21532, writes 0 timeouts 0
2025-04-24 15:01:32 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36349/37114
2025-04-24 15:01:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:32 [info] currentZPosition:0.0677
2025-04-24 15:01:33 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:33 [debug] Diagnostics for board 50:
2025-04-24 15:01:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:38 ago, cause: software
2025-04-24 15:01:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:33 [debug] Moves scheduled 35596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 72, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1817213869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:01:33 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17521, writes 0 timeouts 0
2025-04-24 15:01:33 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36031/37150
2025-04-24 15:01:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:33 [info] currentZPosition:0.0684
2025-04-24 15:01:34 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:34 [debug] Diagnostics for board 50:
2025-04-24 15:01:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:39 ago, cause: software
2025-04-24 15:01:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:34 [debug] Moves scheduled 35600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 87, peak jitter 2/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1816200671 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:01:34 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16942, writes 0 timeouts 0
2025-04-24 15:01:34 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36300/37089
2025-04-24 15:01:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:34 [info] currentZPosition:0.0692
2025-04-24 15:01:36 [debug] Stopped at height 0.070 mm
2025-04-24 15:01:36 [debug] Diagnostics for board 50:
2025-04-24 15:01:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:41 ago, cause: software
2025-04-24 15:01:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:36 [debug] Moves scheduled 35604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1815150105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:01:36 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17638, writes 0 timeouts 0
2025-04-24 15:01:36 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36055/37136
2025-04-24 15:01:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 821
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8955, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:36 [info] currentZPosition:0.0696
2025-04-24 15:01:37 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:37 [debug] Diagnostics for board 50:
2025-04-24 15:01:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:03:42 ago, cause: software
2025-04-24 15:01:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:37 [debug] Moves scheduled 35608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 108, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1814112605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:01:37 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17402, writes 0 timeouts 0
2025-04-24 15:01:37 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36336/37123
2025-04-24 15:01:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:37 [info] currentZPosition:0.0690
2025-04-24 15:01:38 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:38 [debug] Diagnostics for board 50:
2025-04-24 15:01:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:43 ago, cause: software
2025-04-24 15:01:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:38 [debug] Moves scheduled 35612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 114, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1813041720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:38 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17976, writes 0 timeouts 0
2025-04-24 15:01:38 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36057/37163
2025-04-24 15:01:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:39 [info] currentZPosition:0.0684
2025-04-24 15:01:40 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:40 [debug] Diagnostics for board 50:
2025-04-24 15:01:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:45 ago, cause: software
2025-04-24 15:01:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:40 [debug] Moves scheduled 35616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 118, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1812030865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:40 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16956, writes 0 timeouts 0
2025-04-24 15:01:40 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 340, adv 36343/37148
2025-04-24 15:01:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:40 [info] currentZPosition:0.0691
2025-04-24 15:01:41 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:41 [debug] Diagnostics for board 50:
2025-04-24 15:01:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:46 ago, cause: software
2025-04-24 15:01:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:41 [debug] Moves scheduled 35620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 1810976591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:01:41 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17676, writes 0 timeouts 0
2025-04-24 15:01:41 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36015/37090
2025-04-24 15:01:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:41 [info] currentZPosition:0.0693
2025-04-24 15:01:43 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:43 [debug] Diagnostics for board 50:
2025-04-24 15:01:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:48 ago, cause: software
2025-04-24 15:01:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:43 [debug] Moves scheduled 35624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 114, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1809927650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:43 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17614, writes 0 timeouts 0
2025-04-24 15:01:43 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36296/37124
2025-04-24 15:01:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:43 [info] currentZPosition:0.0678
2025-04-24 15:01:43 [debug] Stopped at height 0.066 mm
2025-04-24 15:01:43 [debug] Stopped at height 0.066 mm
2025-04-24 15:01:45 [debug] Stopped at height 0.070 mm
2025-04-24 15:01:45 [debug] Diagnostics for board 50:
2025-04-24 15:01:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:50 ago, cause: software
2025-04-24 15:01:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:45 [debug] Moves scheduled 35632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1808428650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:01:45 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25166, writes 0 timeouts 0
2025-04-24 15:01:45 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36045/37143
2025-04-24 15:01:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:45 [info] currentZPosition:0.0698
2025-04-24 15:01:45 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:45 [debug] Stopped at height 0.067 mm
2025-04-24 15:01:47 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:47 [debug] Diagnostics for board 50:
2025-04-24 15:01:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:52 ago, cause: software
2025-04-24 15:01:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:47 [debug] Moves scheduled 35640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1806910457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:01:47 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25472, writes 0 timeouts 0
2025-04-24 15:01:47 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36374/37127
2025-04-24 15:01:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:47 [info] currentZPosition:0.0693
2025-04-24 15:01:47 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:48 [debug] Stopped at height 0.071 mm
2025-04-24 15:01:48 [debug] Diagnostics for board 50:
2025-04-24 15:01:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:53 ago, cause: software
2025-04-24 15:01:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:48 [debug] Moves scheduled 35646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1805645013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:01:48 [debug] Driver 0: pos -3485, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21230, writes 0 timeouts 0
2025-04-24 15:01:48 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36048/37143
2025-04-24 15:01:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8923, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:48 [info] currentZPosition:0.0706
2025-04-24 15:01:49 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:50 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:50 [debug] Diagnostics for board 50:
2025-04-24 15:01:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:55 ago, cause: software
2025-04-24 15:01:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:50 [debug] Moves scheduled 35652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1804358370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:01:50 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21610, writes 0 timeouts 0
2025-04-24 15:01:50 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36347/37116
2025-04-24 15:01:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:50 [info] currentZPosition:0.0688
2025-04-24 15:01:51 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:51 [debug] Diagnostics for board 50:
2025-04-24 15:01:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:56 ago, cause: software
2025-04-24 15:01:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:51 [debug] Moves scheduled 35656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -2/4, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1803290156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:01:51 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17900, writes 0 timeouts 0
2025-04-24 15:01:51 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35988/37140
2025-04-24 15:01:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:52 [info] currentZPosition:0.0684
2025-04-24 15:01:53 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:53 [debug] Diagnostics for board 50:
2025-04-24 15:01:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:58 ago, cause: software
2025-04-24 15:01:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:53 [debug] Moves scheduled 35660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 80, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1802269741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:01:53 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17131, writes 0 timeouts 0
2025-04-24 15:01:53 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36307/37142
2025-04-24 15:01:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:53 [info] currentZPosition:0.0686
2025-04-24 15:01:54 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:54 [debug] Diagnostics for board 50:
2025-04-24 15:01:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:03:59 ago, cause: software
2025-04-24 15:01:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:54 [debug] Moves scheduled 35664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1801230301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:01:54 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17443, writes 0 timeouts 0
2025-04-24 15:01:54 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36019/37157
2025-04-24 15:01:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:54 [info] currentZPosition:0.0695
2025-04-24 15:01:56 [debug] Stopped at height 0.069 mm
2025-04-24 15:01:56 [debug] Diagnostics for board 50:
2025-04-24 15:01:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:00 ago, cause: software
2025-04-24 15:01:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:56 [debug] Moves scheduled 35668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1800199709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:01:56 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17279, writes 0 timeouts 0
2025-04-24 15:01:56 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 435, adv 36301/37120
2025-04-24 15:01:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:56 [info] currentZPosition:0.0690
2025-04-24 15:01:57 [debug] Stopped at height 0.068 mm
2025-04-24 15:01:57 [debug] Diagnostics for board 50:
2025-04-24 15:01:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:02 ago, cause: software
2025-04-24 15:01:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:57 [debug] Moves scheduled 35672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 102, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1799117019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:57 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18183, writes 0 timeouts 0
2025-04-24 15:01:57 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36018/37088
2025-04-24 15:01:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:57 [info] currentZPosition:0.0677
2025-04-24 15:01:58 [debug] Stopped at height 0.066 mm
2025-04-24 15:01:59 [debug] Stopped at height 0.070 mm
2025-04-24 15:01:59 [debug] Diagnostics for board 50:
2025-04-24 15:01:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:01:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:04 ago, cause: software
2025-04-24 15:01:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:01:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:01:59 [debug] Moves scheduled 35678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1797838933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:01:59 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21458, writes 0 timeouts 0
2025-04-24 15:01:59 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36347/37147
2025-04-24 15:01:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:01:59 [info] currentZPosition:0.0697
2025-04-24 15:01:59 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:00 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:00 [debug] Diagnostics for board 50:
2025-04-24 15:02:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:05 ago, cause: software
2025-04-24 15:02:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:00 [debug] Moves scheduled 35684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1796539086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:02:00 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21798, writes 0 timeouts 0
2025-04-24 15:02:00 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36023/37136
2025-04-24 15:02:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:01 [info] currentZPosition:0.0696
2025-04-24 15:02:02 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:02 [debug] Diagnostics for board 50:
2025-04-24 15:02:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:07 ago, cause: software
2025-04-24 15:02:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:02 [debug] Moves scheduled 35688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 106, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1795510534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:02:02 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17270, writes 0 timeouts 0
2025-04-24 15:02:02 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 417, adv 36389/37120
2025-04-24 15:02:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:02 [info] currentZPosition:0.0692
2025-04-24 15:02:03 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:03 [debug] Diagnostics for board 50:
2025-04-24 15:02:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:08 ago, cause: software
2025-04-24 15:02:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:03 [debug] Moves scheduled 35692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1794446928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:02:03 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17842, writes 0 timeouts 0
2025-04-24 15:02:03 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36008/37120
2025-04-24 15:02:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:03 [info] currentZPosition:0.0689
2025-04-24 15:02:05 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:05 [debug] Diagnostics for board 50:
2025-04-24 15:02:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:10 ago, cause: software
2025-04-24 15:02:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:05 [debug] Moves scheduled 35696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1793432680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:05 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17012, writes 0 timeouts 0
2025-04-24 15:02:05 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36357/37108
2025-04-24 15:02:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:05 [info] currentZPosition:0.0693
2025-04-24 15:02:06 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:06 [debug] Diagnostics for board 50:
2025-04-24 15:02:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:11 ago, cause: software
2025-04-24 15:02:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:06 [debug] Moves scheduled 35700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1792380374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:02:06 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17658, writes 0 timeouts 0
2025-04-24 15:02:06 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36022/37171
2025-04-24 15:02:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:06 [info] currentZPosition:0.0694
2025-04-24 15:02:07 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:07 [debug] Diagnostics for board 50:
2025-04-24 15:02:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:12 ago, cause: software
2025-04-24 15:02:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:07 [debug] Moves scheduled 35704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1791362742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:02:07 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17077, writes 0 timeouts 0
2025-04-24 15:02:07 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36338/37157
2025-04-24 15:02:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8972, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:07 [info] currentZPosition:0.0699
2025-04-24 15:02:09 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:09 [debug] Diagnostics for board 50:
2025-04-24 15:02:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:14 ago, cause: software
2025-04-24 15:02:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:09 [debug] Moves scheduled 35708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1790284618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:02:09 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18086, writes 0 timeouts 0
2025-04-24 15:02:09 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36036/37105
2025-04-24 15:02:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:09 [info] currentZPosition:0.0687
2025-04-24 15:02:10 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:10 [debug] Diagnostics for board 50:
2025-04-24 15:02:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:15 ago, cause: software
2025-04-24 15:02:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:10 [debug] Moves scheduled 35712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 2/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1789275560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:02:10 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16961, writes 0 timeouts 0
2025-04-24 15:02:10 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36396/37134
2025-04-24 15:02:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:10 [info] currentZPosition:0.0696
2025-04-24 15:02:12 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:12 [debug] Diagnostics for board 50:
2025-04-24 15:02:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:16 ago, cause: software
2025-04-24 15:02:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:12 [debug] Moves scheduled 35716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1788221715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:02:12 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17661, writes 0 timeouts 0
2025-04-24 15:02:12 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36052/37097
2025-04-24 15:02:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:12 [info] currentZPosition:0.0698
2025-04-24 15:02:13 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:13 [debug] Diagnostics for board 50:
2025-04-24 15:02:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:18 ago, cause: software
2025-04-24 15:02:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:13 [debug] Moves scheduled 35720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 102, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1787180162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:02:13 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17477, writes 0 timeouts 0
2025-04-24 15:02:13 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36223/37123
2025-04-24 15:02:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:13 [info] currentZPosition:0.0688
2025-04-24 15:02:14 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:14 [debug] Diagnostics for board 50:
2025-04-24 15:02:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:19 ago, cause: software
2025-04-24 15:02:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:14 [debug] Moves scheduled 35724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1786134753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:14 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17564, writes 0 timeouts 0
2025-04-24 15:02:14 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36053/37101
2025-04-24 15:02:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:14 [info] currentZPosition:0.0694
2025-04-24 15:02:16 [debug] Stopped at height 0.068 mm
2025-04-24 15:02:16 [debug] Diagnostics for board 50:
2025-04-24 15:02:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:21 ago, cause: software
2025-04-24 15:02:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:16 [debug] Moves scheduled 35728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 118, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1785075430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:02:16 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17763, writes 0 timeouts 0
2025-04-24 15:02:16 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36087/37171
2025-04-24 15:02:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:16 [info] currentZPosition:0.0676
2025-04-24 15:02:16 [debug] Stopped at height 0.067 mm
2025-04-24 15:02:17 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:17 [debug] Diagnostics for board 50:
2025-04-24 15:02:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:22 ago, cause: software
2025-04-24 15:02:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:17 [debug] Moves scheduled 35734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 125, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1783809971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:17 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21228, writes 0 timeouts 0
2025-04-24 15:02:17 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 432, adv 36045/37123
2025-04-24 15:02:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:18 [info] currentZPosition:0.0693
2025-04-24 15:02:18 [debug] Stopped at height 0.068 mm
2025-04-24 15:02:19 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:19 [debug] Diagnostics for board 50:
2025-04-24 15:02:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:24 ago, cause: software
2025-04-24 15:02:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:19 [debug] Moves scheduled 35740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 126, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1782558511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:02:19 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21010, writes 0 timeouts 0
2025-04-24 15:02:19 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36080/37158
2025-04-24 15:02:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:19 [info] currentZPosition:0.0694
2025-04-24 15:02:21 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:21 [debug] Diagnostics for board 50:
2025-04-24 15:02:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:25 ago, cause: software
2025-04-24 15:02:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:21 [debug] Moves scheduled 35744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 126, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1781507940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:02:21 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17616, writes 0 timeouts 0
2025-04-24 15:02:21 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36001/37124
2025-04-24 15:02:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:21 [info] currentZPosition:0.0696
2025-04-24 15:02:22 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:22 [debug] Diagnostics for board 50:
2025-04-24 15:02:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:27 ago, cause: software
2025-04-24 15:02:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:22 [debug] Moves scheduled 35748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 122, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1780474168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:02:22 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17343, writes 0 timeouts 0
2025-04-24 15:02:22 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36133/37110
2025-04-24 15:02:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:22 [info] currentZPosition:0.0689
2025-04-24 15:02:23 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:23 [debug] Diagnostics for board 50:
2025-04-24 15:02:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:04:28 ago, cause: software
2025-04-24 15:02:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:23 [debug] Moves scheduled 35752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 116, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1779438903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:02:23 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17428, writes 0 timeouts 0
2025-04-24 15:02:23 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36051/37075
2025-04-24 15:02:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8989, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:23 [info] currentZPosition:0.0700
2025-04-24 15:02:25 [debug] Stopped at height 0.068 mm
2025-04-24 15:02:25 [debug] Diagnostics for board 50:
2025-04-24 15:02:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:30 ago, cause: software
2025-04-24 15:02:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:25 [debug] Moves scheduled 35756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 107, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1778386655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:02:25 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17611, writes 0 timeouts 0
2025-04-24 15:02:25 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36105/37170
2025-04-24 15:02:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:25 [info] currentZPosition:0.0684
2025-04-24 15:02:25 [debug] Stopped at height 0.067 mm
2025-04-24 15:02:26 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:26 [debug] Diagnostics for board 50:
2025-04-24 15:02:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:04:31 ago, cause: software
2025-04-24 15:02:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:26 [debug] Moves scheduled 35762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1777094741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:02:26 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21662, writes 0 timeouts 0
2025-04-24 15:02:26 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36047/37149
2025-04-24 15:02:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:27 [info] currentZPosition:0.0689
2025-04-24 15:02:28 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:28 [debug] Diagnostics for board 50:
2025-04-24 15:02:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:33 ago, cause: software
2025-04-24 15:02:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:28 [debug] Moves scheduled 35766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -2/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1776077769 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:02:28 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17094, writes 0 timeouts 0
2025-04-24 15:02:28 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36056/37120
2025-04-24 15:02:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:28 [info] currentZPosition:0.0691
2025-04-24 15:02:29 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:29 [debug] Diagnostics for board 50:
2025-04-24 15:02:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:04:34 ago, cause: software
2025-04-24 15:02:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:29 [debug] Moves scheduled 35770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -4/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1775037536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:02:29 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17439, writes 0 timeouts 0
2025-04-24 15:02:29 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36032/37121
2025-04-24 15:02:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8977, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:29 [info] currentZPosition:0.0701
2025-04-24 15:02:31 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:31 [debug] Diagnostics for board 50:
2025-04-24 15:02:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:35 ago, cause: software
2025-04-24 15:02:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:31 [debug] Moves scheduled 35774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 72, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1773989461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:02:31 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17579, writes 0 timeouts 0
2025-04-24 15:02:31 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36111/37130
2025-04-24 15:02:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:31 [info] currentZPosition:0.0691
2025-04-24 15:02:32 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:32 [debug] Diagnostics for board 50:
2025-04-24 15:02:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:37 ago, cause: software
2025-04-24 15:02:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:32 [debug] Moves scheduled 35778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1772947915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:02:32 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17509, writes 0 timeouts 0
2025-04-24 15:02:32 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36041/37153
2025-04-24 15:02:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:32 [info] currentZPosition:0.0699
2025-04-24 15:02:33 [debug] Stopped at height 0.071 mm
2025-04-24 15:02:33 [debug] Diagnostics for board 50:
2025-04-24 15:02:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:04:38 ago, cause: software
2025-04-24 15:02:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:33 [debug] Moves scheduled 35782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1771938877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:02:33 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16902, writes 0 timeouts 0
2025-04-24 15:02:33 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36102/37161
2025-04-24 15:02:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:33 [info] currentZPosition:0.0706
2025-04-24 15:02:35 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:35 [debug] Diagnostics for board 50:
2025-04-24 15:02:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:40 ago, cause: software
2025-04-24 15:02:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:35 [debug] Moves scheduled 35786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1770844322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:35 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18367, writes 0 timeouts 0
2025-04-24 15:02:35 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36057/37093
2025-04-24 15:02:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:35 [info] currentZPosition:0.0686
2025-04-24 15:02:35 [debug] Stopped at height 0.067 mm
2025-04-24 15:02:36 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:36 [debug] Diagnostics for board 50:
2025-04-24 15:02:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:41 ago, cause: software
2025-04-24 15:02:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:36 [debug] Moves scheduled 35792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1769586703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:36 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21107, writes 0 timeouts 0
2025-04-24 15:02:36 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36062/37120
2025-04-24 15:02:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:37 [info] currentZPosition:0.0691
2025-04-24 15:02:38 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:38 [debug] Diagnostics for board 50:
2025-04-24 15:02:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:43 ago, cause: software
2025-04-24 15:02:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:38 [debug] Moves scheduled 35796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1768557508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:02:38 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17266, writes 0 timeouts 0
2025-04-24 15:02:38 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36014/37087
2025-04-24 15:02:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:38 [info] currentZPosition:0.0705
2025-04-24 15:02:38 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:40 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:40 [debug] Diagnostics for board 50:
2025-04-24 15:02:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:44 ago, cause: software
2025-04-24 15:02:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:40 [debug] Moves scheduled 35802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1767267789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:02:40 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21639, writes 0 timeouts 0
2025-04-24 15:02:40 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36094/37145
2025-04-24 15:02:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:40 [info] currentZPosition:0.0686
2025-04-24 15:02:41 [debug] Stopped at height 0.067 mm
2025-04-24 15:02:41 [debug] Diagnostics for board 50:
2025-04-24 15:02:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:46 ago, cause: software
2025-04-24 15:02:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:41 [debug] Moves scheduled 35806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1766188117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:41 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18108, writes 0 timeouts 0
2025-04-24 15:02:41 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36004/37114
2025-04-24 15:02:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:41 [info] currentZPosition:0.0674
2025-04-24 15:02:42 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:42 [debug] Diagnostics for board 50:
2025-04-24 15:02:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:47 ago, cause: software
2025-04-24 15:02:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:42 [debug] Moves scheduled 35810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1765195214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:02:42 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16662, writes 0 timeouts 0
2025-04-24 15:02:42 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36093/37135
2025-04-24 15:02:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:42 [info] currentZPosition:0.0689
2025-04-24 15:02:43 [debug] Stopped at height 0.068 mm
2025-04-24 15:02:44 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:44 [debug] Diagnostics for board 50:
2025-04-24 15:02:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:49 ago, cause: software
2025-04-24 15:02:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:44 [debug] Moves scheduled 35816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1763918111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:02:44 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21431, writes 0 timeouts 0
2025-04-24 15:02:44 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36041/37156
2025-04-24 15:02:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:44 [info] currentZPosition:0.0697
2025-04-24 15:02:44 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:46 [debug] Stopped at height 0.071 mm
2025-04-24 15:02:46 [debug] Diagnostics for board 50:
2025-04-24 15:02:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:04:51 ago, cause: software
2025-04-24 15:02:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:46 [debug] Moves scheduled 35822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1762676690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:02:46 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20845, writes 0 timeouts 0
2025-04-24 15:02:46 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36078/37136
2025-04-24 15:02:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:46 [info] currentZPosition:0.0707
2025-04-24 15:02:46 [debug] Stopped at height 0.069 mm
2025-04-24 15:02:47 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:47 [debug] Diagnostics for board 50:
2025-04-24 15:02:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:04:52 ago, cause: software
2025-04-24 15:02:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:47 [debug] Moves scheduled 35828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1761369936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:47 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21911, writes 0 timeouts 0
2025-04-24 15:02:47 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 439, adv 35955/37122
2025-04-24 15:02:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:47 [info] currentZPosition:0.0701
2025-04-24 15:02:49 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:49 [debug] Diagnostics for board 50:
2025-04-24 15:02:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:04:54 ago, cause: software
2025-04-24 15:02:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:49 [debug] Moves scheduled 35832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1760345269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:49 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17198, writes 0 timeouts 0
2025-04-24 15:02:49 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36069/37155
2025-04-24 15:02:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:49 [info] currentZPosition:0.0702
2025-04-24 15:02:50 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:50 [debug] Diagnostics for board 50:
2025-04-24 15:02:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:04:55 ago, cause: software
2025-04-24 15:02:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:50 [debug] Moves scheduled 35836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1759294397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:02:50 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17634, writes 0 timeouts 0
2025-04-24 15:02:50 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36021/37134
2025-04-24 15:02:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:50 [info] currentZPosition:0.0705
2025-04-24 15:02:52 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:52 [debug] Diagnostics for board 50:
2025-04-24 15:02:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:56 ago, cause: software
2025-04-24 15:02:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:52 [debug] Moves scheduled 35840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1758260369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:02:52 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17340, writes 0 timeouts 0
2025-04-24 15:02:52 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36112/37122
2025-04-24 15:02:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:52 [info] currentZPosition:0.0697
2025-04-24 15:02:53 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:53 [debug] Diagnostics for board 50:
2025-04-24 15:02:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:58 ago, cause: software
2025-04-24 15:02:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:53 [debug] Moves scheduled 35844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 60, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1757219132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:02:53 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17462, writes 0 timeouts 0
2025-04-24 15:02:53 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36038/37167
2025-04-24 15:02:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8986, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:53 [info] currentZPosition:0.0705
2025-04-24 15:02:54 [debug] Stopped at height 0.071 mm
2025-04-24 15:02:54 [debug] Diagnostics for board 50:
2025-04-24 15:02:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:04:59 ago, cause: software
2025-04-24 15:02:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:54 [debug] Moves scheduled 35848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1756201370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:02:54 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17086, writes 0 timeouts 0
2025-04-24 15:02:54 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36057/37088
2025-04-24 15:02:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:54 [info] currentZPosition:0.0706
2025-04-24 15:02:56 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:56 [debug] Diagnostics for board 50:
2025-04-24 15:02:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:01 ago, cause: software
2025-04-24 15:02:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:56 [debug] Moves scheduled 35852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1755139731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:02:56 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17814, writes 0 timeouts 0
2025-04-24 15:02:56 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36020/37081
2025-04-24 15:02:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:56 [info] currentZPosition:0.0702
2025-04-24 15:02:57 [debug] Stopped at height 0.070 mm
2025-04-24 15:02:57 [debug] Diagnostics for board 50:
2025-04-24 15:02:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:02 ago, cause: software
2025-04-24 15:02:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:57 [debug] Moves scheduled 35856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1754117524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU te
2025-04-24 15:02:57 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17143, writes 0 timeouts 0
2025-04-24 15:02:57 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36038/37146
2025-04-24 15:02:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:57 [info] currentZPosition:0.0705
2025-04-24 15:02:58 [debug] Stopped at height 0.071 mm
2025-04-24 15:02:58 [debug] Diagnostics for board 50:
2025-04-24 15:02:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:02:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:03 ago, cause: software
2025-04-24 15:02:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:02:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:02:58 [debug] Moves scheduled 35860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1753061045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:02:58 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17727, writes 0 timeouts 0
2025-04-24 15:02:58 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36032/37157
2025-04-24 15:02:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:02:59 [info] currentZPosition:0.0707
2025-04-24 15:03:00 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:00 [debug] Diagnostics for board 50:
2025-04-24 15:03:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:05 ago, cause: software
2025-04-24 15:03:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:00 [debug] Moves scheduled 35864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1752031642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:03:00 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17273, writes 0 timeouts 0
2025-04-24 15:03:00 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36067/37120
2025-04-24 15:03:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:00 [info] currentZPosition:0.0703
2025-04-24 15:03:01 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:01 [debug] Diagnostics for board 50:
2025-04-24 15:03:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:06 ago, cause: software
2025-04-24 15:03:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:01 [debug] Moves scheduled 35868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1750957440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:01 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18038, writes 0 timeouts 0
2025-04-24 15:03:01 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36003/37114
2025-04-24 15:03:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:01 [info] currentZPosition:0.0693
2025-04-24 15:03:03 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:03 [debug] Diagnostics for board 50:
2025-04-24 15:03:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:07 ago, cause: software
2025-04-24 15:03:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:03 [debug] Moves scheduled 35872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1749965692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:03 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16636, writes 0 timeouts 0
2025-04-24 15:03:03 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36071/37101
2025-04-24 15:03:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8970, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:03 [info] currentZPosition:0.0709
2025-04-24 15:03:03 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:04 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:04 [debug] Diagnostics for board 50:
2025-04-24 15:03:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:09 ago, cause: software
2025-04-24 15:03:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:04 [debug] Moves scheduled 35878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1748658889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:03:04 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21917, writes 0 timeouts 0
2025-04-24 15:03:04 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36059/37103
2025-04-24 15:03:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:04 [info] currentZPosition:0.0700
2025-04-24 15:03:06 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:06 [debug] Diagnostics for board 50:
2025-04-24 15:03:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:11 ago, cause: software
2025-04-24 15:03:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:06 [debug] Moves scheduled 35882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1747653141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:03:06 [debug] Driver 0: pos -3494, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16886, writes 0 timeouts 0
2025-04-24 15:03:06 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36068/37104
2025-04-24 15:03:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:06 [info] currentZPosition:0.0713
2025-04-24 15:03:06 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:07 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:07 [debug] Diagnostics for board 50:
2025-04-24 15:03:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:12 ago, cause: software
2025-04-24 15:03:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:07 [debug] Moves scheduled 35888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1746332409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:03:07 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22155, writes 0 timeouts 0
2025-04-24 15:03:07 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36044/37105
2025-04-24 15:03:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:08 [info] currentZPosition:0.0697
2025-04-24 15:03:09 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:09 [debug] Diagnostics for board 50:
2025-04-24 15:03:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:14 ago, cause: software
2025-04-24 15:03:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:09 [debug] Moves scheduled 35892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1745313008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:03:09 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17101, writes 0 timeouts 0
2025-04-24 15:03:09 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36245/37111
2025-04-24 15:03:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:09 [info] currentZPosition:0.0698
2025-04-24 15:03:10 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:10 [debug] Diagnostics for board 50:
2025-04-24 15:03:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:15 ago, cause: software
2025-04-24 15:03:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:10 [debug] Moves scheduled 35896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1744266021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:10 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17579, writes 0 timeouts 0
2025-04-24 15:03:10 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36031/37128
2025-04-24 15:03:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:10 [info] currentZPosition:0.0704
2025-04-24 15:03:12 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:12 [debug] Diagnostics for board 50:
2025-04-24 15:03:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:16 ago, cause: software
2025-04-24 15:03:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:12 [debug] Moves scheduled 35900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1743259751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:03:12 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16889, writes 0 timeouts 0
2025-04-24 15:03:12 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36306/37108
2025-04-24 15:03:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8973, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:12 [info] currentZPosition:0.0714
2025-04-24 15:03:13 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:13 [debug] Diagnostics for board 50:
2025-04-24 15:03:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:18 ago, cause: software
2025-04-24 15:03:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:13 [debug] Moves scheduled 35904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1742191370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:03:13 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17914, writes 0 timeouts 0
2025-04-24 15:03:13 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36058/37091
2025-04-24 15:03:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:13 [info] currentZPosition:0.0708
2025-04-24 15:03:14 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:14 [debug] Diagnostics for board 50:
2025-04-24 15:03:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:19 ago, cause: software
2025-04-24 15:03:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:14 [debug] Moves scheduled 35908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1741145904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:14 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17548, writes 0 timeouts 0
2025-04-24 15:03:14 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36329/37152
2025-04-24 15:03:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:14 [info] currentZPosition:0.0696
2025-04-24 15:03:16 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:16 [debug] Diagnostics for board 50:
2025-04-24 15:03:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:21 ago, cause: software
2025-04-24 15:03:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:16 [debug] Moves scheduled 35912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 68, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1740109189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:16 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17410, writes 0 timeouts 0
2025-04-24 15:03:16 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36026/37144
2025-04-24 15:03:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:16 [info] currentZPosition:0.0706
2025-04-24 15:03:17 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:17 [debug] Diagnostics for board 50:
2025-04-24 15:03:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:22 ago, cause: software
2025-04-24 15:03:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:17 [debug] Moves scheduled 35916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1739059203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:17 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17646, writes 0 timeouts 0
2025-04-24 15:03:17 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36364/37101
2025-04-24 15:03:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:17 [info] currentZPosition:0.0693
2025-04-24 15:03:18 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:19 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:19 [debug] Diagnostics for board 50:
2025-04-24 15:03:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:24 ago, cause: software
2025-04-24 15:03:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:19 [debug] Moves scheduled 35922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1737779201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:03:19 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21446, writes 0 timeouts 0
2025-04-24 15:03:19 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36071/37117
2025-04-24 15:03:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:19 [info] currentZPosition:0.0701
2025-04-24 15:03:20 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:20 [debug] Diagnostics for board 50:
2025-04-24 15:03:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:25 ago, cause: software
2025-04-24 15:03:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:20 [debug] Moves scheduled 35926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1736773919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:03:20 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16867, writes 0 timeouts 0
2025-04-24 15:03:20 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36377/37107
2025-04-24 15:03:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8987, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:20 [info] currentZPosition:0.0709
2025-04-24 15:03:22 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:22 [debug] Diagnostics for board 50:
2025-04-24 15:03:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:26 ago, cause: software
2025-04-24 15:03:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:22 [debug] Moves scheduled 35930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967243 ticks, enabled, next step interrupt due in 1735716838 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31
2025-04-24 15:03:22 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17756, writes 0 timeouts 0
2025-04-24 15:03:22 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36092/37155
2025-04-24 15:03:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:22 [info] currentZPosition:0.0710
2025-04-24 15:03:23 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:23 [debug] Diagnostics for board 50:
2025-04-24 15:03:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:28 ago, cause: software
2025-04-24 15:03:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:23 [debug] Moves scheduled 35934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1734670903 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:03:23 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17527, writes 0 timeouts 0
2025-04-24 15:03:23 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36377/37125
2025-04-24 15:03:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:23 [info] currentZPosition:0.0698
2025-04-24 15:03:24 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:24 [debug] Diagnostics for board 50:
2025-04-24 15:03:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:29 ago, cause: software
2025-04-24 15:03:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:24 [debug] Moves scheduled 35938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1733597285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:24 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18009, writes 0 timeouts 0
2025-04-24 15:03:24 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36079/37122
2025-04-24 15:03:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:25 [info] currentZPosition:0.0690
2025-04-24 15:03:26 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:26 [debug] Diagnostics for board 50:
2025-04-24 15:03:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:31 ago, cause: software
2025-04-24 15:03:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:26 [debug] Moves scheduled 35942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1732616121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:03:26 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16484, writes 0 timeouts 0
2025-04-24 15:03:26 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36348/37124
2025-04-24 15:03:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:26 [info] currentZPosition:0.0712
2025-04-24 15:03:26 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:27 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:27 [debug] Diagnostics for board 50:
2025-04-24 15:03:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:32 ago, cause: software
2025-04-24 15:03:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:27 [debug] Moves scheduled 35948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1731325739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:03:27 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21623, writes 0 timeouts 0
2025-04-24 15:03:27 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36071/37143
2025-04-24 15:03:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9005, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:28 [info] currentZPosition:0.0712
2025-04-24 15:03:28 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:29 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:29 [debug] Diagnostics for board 50:
2025-04-24 15:03:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:34 ago, cause: software
2025-04-24 15:03:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:29 [debug] Moves scheduled 35954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1730041947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:29 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21540, writes 0 timeouts 0
2025-04-24 15:03:29 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 410, adv 36310/37165
2025-04-24 15:03:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:29 [info] currentZPosition:0.0697
2025-04-24 15:03:31 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:31 [debug] Diagnostics for board 50:
2025-04-24 15:03:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:35 ago, cause: software
2025-04-24 15:03:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:31 [debug] Moves scheduled 35958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1729006156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:03:31 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17398, writes 0 timeouts 0
2025-04-24 15:03:31 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36030/37131
2025-04-24 15:03:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:31 [info] currentZPosition:0.0710
2025-04-24 15:03:31 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:32 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:32 [debug] Diagnostics for board 50:
2025-04-24 15:03:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:05:37 ago, cause: software
2025-04-24 15:03:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:32 [debug] Moves scheduled 35964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 80, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1727736221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:03:32 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21286, writes 0 timeouts 0
2025-04-24 15:03:32 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36273/37151
2025-04-24 15:03:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:32 [info] currentZPosition:0.0704
2025-04-24 15:03:34 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:34 [debug] Diagnostics for board 50:
2025-04-24 15:03:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:39 ago, cause: software
2025-04-24 15:03:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:34 [debug] Moves scheduled 35968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1726687692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:03:34 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17599, writes 0 timeouts 0
2025-04-24 15:03:34 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35994/37159
2025-04-24 15:03:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:34 [info] currentZPosition:0.0710
2025-04-24 15:03:35 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:35 [debug] Diagnostics for board 50:
2025-04-24 15:03:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:05:40 ago, cause: software
2025-04-24 15:03:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:35 [debug] Moves scheduled 35972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1725663998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:35 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17207, writes 0 timeouts 0
2025-04-24 15:03:35 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36310/37127
2025-04-24 15:03:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:35 [info] currentZPosition:0.0710
2025-04-24 15:03:36 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:36 [debug] Diagnostics for board 50:
2025-04-24 15:03:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:41 ago, cause: software
2025-04-24 15:03:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:36 [debug] Moves scheduled 35976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 75, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1724583393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:03:36 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18100, writes 0 timeouts 0
2025-04-24 15:03:36 [debug] Last sensors broadcast 0x00000000 found 0 0 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36030/37127
2025-04-24 15:03:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:37 [info] currentZPosition:0.0698
2025-04-24 15:03:38 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:38 [debug] Diagnostics for board 50:
2025-04-24 15:03:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:05:43 ago, cause: software
2025-04-24 15:03:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:38 [debug] Moves scheduled 35980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1723587436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:38 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16728, writes 0 timeouts 0
2025-04-24 15:03:38 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36376/37130
2025-04-24 15:03:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:38 [info] currentZPosition:0.0714
2025-04-24 15:03:38 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:39 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:39 [debug] Diagnostics for board 50:
2025-04-24 15:03:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:44 ago, cause: software
2025-04-24 15:03:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:39 [debug] Moves scheduled 35986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1722279514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:39 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21934, writes 0 timeouts 0
2025-04-24 15:03:39 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36048/37119
2025-04-24 15:03:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:40 [info] currentZPosition:0.0708
2025-04-24 15:03:41 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:41 [debug] Diagnostics for board 50:
2025-04-24 15:03:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:05:46 ago, cause: software
2025-04-24 15:03:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:41 [debug] Moves scheduled 35990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -2/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1721232508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:41 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17570, writes 0 timeouts 0
2025-04-24 15:03:41 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36322/37096
2025-04-24 15:03:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:41 [info] currentZPosition:0.0695
2025-04-24 15:03:41 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:43 [debug] Stopped at height 0.069 mm
2025-04-24 15:03:43 [debug] Diagnostics for board 50:
2025-04-24 15:03:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:48 ago, cause: software
2025-04-24 15:03:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:43 [debug] Moves scheduled 35996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 87, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1719939356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:03:43 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21692, writes 0 timeouts 0
2025-04-24 15:03:43 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36013/37165
2025-04-24 15:03:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:43 [info] currentZPosition:0.0693
2025-04-24 15:03:44 [debug] Stopped at height 0.072 mm
2025-04-24 15:03:44 [debug] Diagnostics for board 50:
2025-04-24 15:03:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:49 ago, cause: software
2025-04-24 15:03:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:44 [debug] Moves scheduled 36000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1718959387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:03:44 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16446, writes 0 timeouts 0
2025-04-24 15:03:44 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36296/37159
2025-04-24 15:03:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:44 [info] currentZPosition:0.0716
2025-04-24 15:03:44 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:46 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:46 [debug] Diagnostics for board 50:
2025-04-24 15:03:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:51 ago, cause: software
2025-04-24 15:03:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:46 [debug] Moves scheduled 36006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1717657315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:03:46 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21834, writes 0 timeouts 0
2025-04-24 15:03:46 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36055/37137
2025-04-24 15:03:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:46 [info] currentZPosition:0.0708
2025-04-24 15:03:47 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:47 [debug] Diagnostics for board 50:
2025-04-24 15:03:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:52 ago, cause: software
2025-04-24 15:03:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:47 [debug] Moves scheduled 36010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1716642292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:03:47 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17031, writes 0 timeouts 0
2025-04-24 15:03:47 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36255/37122
2025-04-24 15:03:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:47 [info] currentZPosition:0.0715
2025-04-24 15:03:48 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:48 [debug] Diagnostics for board 50:
2025-04-24 15:03:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:53 ago, cause: software
2025-04-24 15:03:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:48 [debug] Moves scheduled 36014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 1715580301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 15:03:48 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17828, writes 0 timeouts 0
2025-04-24 15:03:48 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36051/37126
2025-04-24 15:03:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:49 [info] currentZPosition:0.0711
2025-04-24 15:03:50 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:50 [debug] Diagnostics for board 50:
2025-04-24 15:03:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:05:55 ago, cause: software
2025-04-24 15:03:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:50 [debug] Moves scheduled 36018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1714552820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:03:50 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17235, writes 0 timeouts 0
2025-04-24 15:03:50 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36338/37165
2025-04-24 15:03:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:50 [info] currentZPosition:0.0708
2025-04-24 15:03:51 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:51 [debug] Diagnostics for board 50:
2025-04-24 15:03:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:56 ago, cause: software
2025-04-24 15:03:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:51 [debug] Moves scheduled 36022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1713500724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:03:51 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17643, writes 0 timeouts 0
2025-04-24 15:03:51 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36008/37152
2025-04-24 15:03:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:51 [info] currentZPosition:0.0711
2025-04-24 15:03:53 [debug] Stopped at height 0.070 mm
2025-04-24 15:03:53 [debug] Diagnostics for board 50:
2025-04-24 15:03:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:57 ago, cause: software
2025-04-24 15:03:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:53 [debug] Moves scheduled 36026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1712468452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:53 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17330, writes 0 timeouts 0
2025-04-24 15:03:53 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36339/37102
2025-04-24 15:03:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:53 [info] currentZPosition:0.0705
2025-04-24 15:03:54 [debug] Stopped at height 0.072 mm
2025-04-24 15:03:54 [debug] Diagnostics for board 50:
2025-04-24 15:03:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:05:59 ago, cause: software
2025-04-24 15:03:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:54 [debug] Moves scheduled 36030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1711434228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:03:54 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17341, writes 0 timeouts 0
2025-04-24 15:03:54 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36088/37109
2025-04-24 15:03:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:54 [info] currentZPosition:0.0719
2025-04-24 15:03:54 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:56 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:56 [debug] Diagnostics for board 50:
2025-04-24 15:03:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:01 ago, cause: software
2025-04-24 15:03:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:56 [debug] Moves scheduled 36036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 79, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1710155180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:03:56 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21452, writes 0 timeouts 0
2025-04-24 15:03:56 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36329/37126
2025-04-24 15:03:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:56 [info] currentZPosition:0.0708
2025-04-24 15:03:57 [debug] Stopped at height 0.071 mm
2025-04-24 15:03:57 [debug] Diagnostics for board 50:
2025-04-24 15:03:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:02 ago, cause: software
2025-04-24 15:03:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:57 [debug] Moves scheduled 36040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1709108494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:03:57 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17566, writes 0 timeouts 0
2025-04-24 15:03:57 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36028/37160
2025-04-24 15:03:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9042, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:57 [info] currentZPosition:0.0714
2025-04-24 15:03:58 [debug] Stopped at height 0.072 mm
2025-04-24 15:03:58 [debug] Diagnostics for board 50:
2025-04-24 15:03:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:03:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:03 ago, cause: software
2025-04-24 15:03:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:03:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:03:58 [debug] Moves scheduled 36044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15625
Sync err accum 65, peak jitter -3/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1708089569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:03:58 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17099, writes 0 timeouts 0
2025-04-24 15:03:58 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36322/37116
2025-04-24 15:03:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:03:59 [info] currentZPosition:0.0716
2025-04-24 15:04:00 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:00 [debug] Diagnostics for board 50:
2025-04-24 15:04:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:05 ago, cause: software
2025-04-24 15:04:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:00 [debug] Moves scheduled 36048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 79, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1707028307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:04:00 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17804, writes 0 timeouts 0
2025-04-24 15:04:00 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36000/37095
2025-04-24 15:04:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:00 [info] currentZPosition:0.0714
2025-04-24 15:04:01 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:01 [debug] Diagnostics for board 50:
2025-04-24 15:04:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:06 ago, cause: software
2025-04-24 15:04:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:01 [debug] Moves scheduled 36052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter 2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1706013769 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:04:01 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17009, writes 0 timeouts 0
2025-04-24 15:04:01 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36311/37154
2025-04-24 15:04:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:01 [info] currentZPosition:0.0718
2025-04-24 15:04:03 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:03 [debug] Diagnostics for board 50:
2025-04-24 15:04:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:07 ago, cause: software
2025-04-24 15:04:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:03 [debug] Moves scheduled 36056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1704959083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:03 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17712, writes 0 timeouts 0
2025-04-24 15:04:03 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36034/37100
2025-04-24 15:04:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:03 [info] currentZPosition:0.0718
2025-04-24 15:04:04 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:04 [debug] Diagnostics for board 50:
2025-04-24 15:04:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:09 ago, cause: software
2025-04-24 15:04:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:04 [debug] Moves scheduled 36060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1703936592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:04:04 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17160, writes 0 timeouts 0
2025-04-24 15:04:04 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36205/37117
2025-04-24 15:04:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:04 [info] currentZPosition:0.0721
2025-04-24 15:04:05 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:05 [debug] Diagnostics for board 50:
2025-04-24 15:04:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:06:10 ago, cause: software
2025-04-24 15:04:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:05 [debug] Moves scheduled 36064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1702863753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:05 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18008, writes 0 timeouts 0
2025-04-24 15:04:05 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36032/37086
2025-04-24 15:04:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:05 [info] currentZPosition:0.0714
2025-04-24 15:04:07 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:07 [debug] Diagnostics for board 50:
2025-04-24 15:04:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:12 ago, cause: software
2025-04-24 15:04:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:07 [debug] Moves scheduled 36068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 115, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1701857252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:04:07 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16870, writes 0 timeouts 0
2025-04-24 15:04:07 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36111/37129
2025-04-24 15:04:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:07 [info] currentZPosition:0.0722
2025-04-24 15:04:08 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:08 [debug] Diagnostics for board 50:
2025-04-24 15:04:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:13 ago, cause: software
2025-04-24 15:04:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:08 [debug] Moves scheduled 36072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 114, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1700785776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17984, writes 0 timeouts 0
2025-04-24 15:04:08 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36041/37124
2025-04-24 15:04:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:08 [info] currentZPosition:0.0714
2025-04-24 15:04:10 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:10 [debug] Diagnostics for board 50:
2025-04-24 15:04:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:14 ago, cause: software
2025-04-24 15:04:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:10 [debug] Moves scheduled 36076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1699763760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:04:10 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17143, writes 0 timeouts 0
2025-04-24 15:04:10 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36069/37113
2025-04-24 15:04:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:10 [info] currentZPosition:0.0713
2025-04-24 15:04:11 [debug] Stopped at height 0.070 mm
2025-04-24 15:04:11 [debug] Diagnostics for board 50:
2025-04-24 15:04:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:16 ago, cause: software
2025-04-24 15:04:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:11 [debug] Moves scheduled 36080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1698684009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:11 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18122, writes 0 timeouts 0
2025-04-24 15:04:11 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36055/37172
2025-04-24 15:04:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:11 [info] currentZPosition:0.0702
2025-04-24 15:04:12 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:12 [debug] Diagnostics for board 50:
2025-04-24 15:04:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:17 ago, cause: software
2025-04-24 15:04:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:12 [debug] Moves scheduled 36084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter -1/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1697675457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:12 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16923, writes 0 timeouts 0
2025-04-24 15:04:12 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36079/37096
2025-04-24 15:04:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:12 [info] currentZPosition:0.0709
2025-04-24 15:04:14 [debug] Stopped at height 0.073 mm
2025-04-24 15:04:14 [debug] Diagnostics for board 50:
2025-04-24 15:04:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:19 ago, cause: software
2025-04-24 15:04:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:14 [debug] Moves scheduled 36088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1696653422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:04:14 [debug] Driver 0: pos -3492, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17150, writes 0 timeouts 0
2025-04-24 15:04:14 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36066/37107
2025-04-24 15:04:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8962, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:14 [info] currentZPosition:0.0728
2025-04-24 15:04:14 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:15 [debug] Stopped at height 0.073 mm
2025-04-24 15:04:15 [debug] Diagnostics for board 50:
2025-04-24 15:04:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:20 ago, cause: software
2025-04-24 15:04:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:15 [debug] Moves scheduled 36094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1695399311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:04:15 [debug] Driver 0: pos -3493, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21032, writes 0 timeouts 0
2025-04-24 15:04:15 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36081/37143
2025-04-24 15:04:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8956, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:15 [info] currentZPosition:0.0727
2025-04-24 15:04:16 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:17 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:17 [debug] Diagnostics for board 50:
2025-04-24 15:04:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:22 ago, cause: software
2025-04-24 15:04:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:17 [debug] Moves scheduled 36100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 63, peak jitter -3/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1694075901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:17 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22204, writes 0 timeouts 0
2025-04-24 15:04:17 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36079/37164
2025-04-24 15:04:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:17 [info] currentZPosition:0.0710
2025-04-24 15:04:18 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:18 [debug] Diagnostics for board 50:
2025-04-24 15:04:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:23 ago, cause: software
2025-04-24 15:04:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:18 [debug] Moves scheduled 36104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1693059372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:04:18 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17047, writes 0 timeouts 0
2025-04-24 15:04:18 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36069/37121
2025-04-24 15:04:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:19 [info] currentZPosition:0.0712
2025-04-24 15:04:20 [debug] Stopped at height 0.070 mm
2025-04-24 15:04:20 [debug] Diagnostics for board 50:
2025-04-24 15:04:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:25 ago, cause: software
2025-04-24 15:04:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:20 [debug] Moves scheduled 36108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 94, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1691973820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:04:20 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18244, writes 0 timeouts 0
2025-04-24 15:04:20 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36001/37105
2025-04-24 15:04:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:20 [info] currentZPosition:0.0696
2025-04-24 15:04:20 [debug] Stopped at height 0.068 mm
2025-04-24 15:04:22 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:22 [debug] Diagnostics for board 50:
2025-04-24 15:04:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:26 ago, cause: software
2025-04-24 15:04:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:22 [debug] Moves scheduled 36114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 105, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1690727702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:04:22 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20888, writes 0 timeouts 0
2025-04-24 15:04:22 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36086/37093
2025-04-24 15:04:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:22 [info] currentZPosition:0.0706
2025-04-24 15:04:22 [debug] Stopped at height 0.069 mm
2025-04-24 15:04:23 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:23 [debug] Diagnostics for board 50:
2025-04-24 15:04:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:28 ago, cause: software
2025-04-24 15:04:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:23 [debug] Moves scheduled 36120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1689438380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:04:23 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21627, writes 0 timeouts 0
2025-04-24 15:04:23 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36046/37139
2025-04-24 15:04:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:23 [info] currentZPosition:0.0706
2025-04-24 15:04:25 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:25 [debug] Diagnostics for board 50:
2025-04-24 15:04:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:30 ago, cause: software
2025-04-24 15:04:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:25 [debug] Moves scheduled 36124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1688421823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:04:25 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17074, writes 0 timeouts 0
2025-04-24 15:04:25 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36106/37115
2025-04-24 15:04:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:25 [info] currentZPosition:0.0708
2025-04-24 15:04:26 [debug] Stopped at height 0.070 mm
2025-04-24 15:04:26 [debug] Diagnostics for board 50:
2025-04-24 15:04:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:31 ago, cause: software
2025-04-24 15:04:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:26 [debug] Moves scheduled 36128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 111, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1687359842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:04:26 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17796, writes 0 timeouts 0
2025-04-24 15:04:26 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36013/37100
2025-04-24 15:04:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:26 [info] currentZPosition:0.0705
2025-04-24 15:04:27 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:27 [debug] Diagnostics for board 50:
2025-04-24 15:04:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:32 ago, cause: software
2025-04-24 15:04:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:27 [debug] Moves scheduled 36132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1686356894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:27 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16844, writes 0 timeouts 0
2025-04-24 15:04:27 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36096/37101
2025-04-24 15:04:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:27 [info] currentZPosition:0.0716
2025-04-24 15:04:29 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:29 [debug] Diagnostics for board 50:
2025-04-24 15:04:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:34 ago, cause: software
2025-04-24 15:04:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:29 [debug] Moves scheduled 36136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1685298743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:29 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17767, writes 0 timeouts 0
2025-04-24 15:04:29 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36081/37096
2025-04-24 15:04:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:29 [info] currentZPosition:0.0716
2025-04-24 15:04:30 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:30 [debug] Diagnostics for board 50:
2025-04-24 15:04:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:35 ago, cause: software
2025-04-24 15:04:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:30 [debug] Moves scheduled 36140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1684276059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:30 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17138, writes 0 timeouts 0
2025-04-24 15:04:30 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36150/37124
2025-04-24 15:04:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:30 [info] currentZPosition:0.0716
2025-04-24 15:04:32 [debug] Stopped at height 0.073 mm
2025-04-24 15:04:32 [debug] Diagnostics for board 50:
2025-04-24 15:04:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:36 ago, cause: software
2025-04-24 15:04:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:32 [debug] Moves scheduled 36144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1683238976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:32 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17391, writes 0 timeouts 0
2025-04-24 15:04:32 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36045/37105
2025-04-24 15:04:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9000, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:32 [info] currentZPosition:0.0726
2025-04-24 15:04:33 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:33 [debug] Diagnostics for board 50:
2025-04-24 15:04:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:38 ago, cause: software
2025-04-24 15:04:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:33 [debug] Moves scheduled 36148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1682206718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:33 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17357, writes 0 timeouts 0
2025-04-24 15:04:33 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36121/37124
2025-04-24 15:04:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:33 [info] currentZPosition:0.0720
2025-04-24 15:04:34 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:34 [debug] Diagnostics for board 50:
2025-04-24 15:04:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:39 ago, cause: software
2025-04-24 15:04:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:34 [debug] Moves scheduled 36152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 60, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1681145222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:34 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17784, writes 0 timeouts 0
2025-04-24 15:04:34 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36071/37162
2025-04-24 15:04:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:34 [info] currentZPosition:0.0718
2025-04-24 15:04:36 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:36 [debug] Diagnostics for board 50:
2025-04-24 15:04:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:41 ago, cause: software
2025-04-24 15:04:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:36 [debug] Moves scheduled 36156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -1/4, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1680126263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:36 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17102, writes 0 timeouts 0
2025-04-24 15:04:36 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36099/37135
2025-04-24 15:04:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:36 [info] currentZPosition:0.0720
2025-04-24 15:04:37 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:37 [debug] Diagnostics for board 50:
2025-04-24 15:04:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:06:42 ago, cause: software
2025-04-24 15:04:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:37 [debug] Moves scheduled 36160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 83, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1679068231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:04:37 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17778, writes 0 timeouts 0
2025-04-24 15:04:37 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36085/37141
2025-04-24 15:04:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:37 [info] currentZPosition:0.0720
2025-04-24 15:04:38 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:38 [debug] Diagnostics for board 50:
2025-04-24 15:04:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:43 ago, cause: software
2025-04-24 15:04:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:38 [debug] Moves scheduled 36164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1678043806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:04:38 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17172, writes 0 timeouts 0
2025-04-24 15:04:38 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36083/37098
2025-04-24 15:04:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:39 [info] currentZPosition:0.0719
2025-04-24 15:04:40 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:40 [debug] Diagnostics for board 50:
2025-04-24 15:04:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:45 ago, cause: software
2025-04-24 15:04:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:40 [debug] Moves scheduled 36168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1676996712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:04:40 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17559, writes 0 timeouts 0
2025-04-24 15:04:40 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36015/37137
2025-04-24 15:04:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:40 [info] currentZPosition:0.0724
2025-04-24 15:04:41 [debug] Stopped at height 0.073 mm
2025-04-24 15:04:41 [debug] Diagnostics for board 50:
2025-04-24 15:04:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:46 ago, cause: software
2025-04-24 15:04:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:41 [debug] Moves scheduled 36172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1675990354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:41 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16923, writes 0 timeouts 0
2025-04-24 15:04:41 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36071/37160
2025-04-24 15:04:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8969, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:41 [info] currentZPosition:0.0733
2025-04-24 15:04:43 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:43 [debug] Diagnostics for board 50:
2025-04-24 15:04:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:48 ago, cause: software
2025-04-24 15:04:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:43 [debug] Moves scheduled 36176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1674885240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:43 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18513, writes 0 timeouts 0
2025-04-24 15:04:43 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36100/37095
2025-04-24 15:04:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:43 [info] currentZPosition:0.0709
2025-04-24 15:04:43 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:44 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:44 [debug] Diagnostics for board 50:
2025-04-24 15:04:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:49 ago, cause: software
2025-04-24 15:04:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:44 [debug] Moves scheduled 36182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1673664989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:04:44 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20460, writes 0 timeouts 0
2025-04-24 15:04:44 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36110/37133
2025-04-24 15:04:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8974, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:44 [info] currentZPosition:0.0725
2025-04-24 15:04:45 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:46 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:46 [debug] Diagnostics for board 50:
2025-04-24 15:04:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:51 ago, cause: software
2025-04-24 15:04:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:46 [debug] Moves scheduled 36188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1672371399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:04:46 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21711, writes 0 timeouts 0
2025-04-24 15:04:46 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36025/37126
2025-04-24 15:04:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:46 [info] currentZPosition:0.0723
2025-04-24 15:04:47 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:48 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:48 [debug] Diagnostics for board 50:
2025-04-24 15:04:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:53 ago, cause: software
2025-04-24 15:04:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:48 [debug] Moves scheduled 36194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1671099611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:48 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21348, writes 0 timeouts 0
2025-04-24 15:04:48 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36111/37117
2025-04-24 15:04:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:48 [info] currentZPosition:0.0714
2025-04-24 15:04:49 [debug] Stopped at height 0.073 mm
2025-04-24 15:04:49 [debug] Diagnostics for board 50:
2025-04-24 15:04:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:06:54 ago, cause: software
2025-04-24 15:04:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:49 [debug] Moves scheduled 36198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1670067961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:04:49 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17295, writes 0 timeouts 0
2025-04-24 15:04:49 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36030/37086
2025-04-24 15:04:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:49 [info] currentZPosition:0.0727
2025-04-24 15:04:50 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:51 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:51 [debug] Diagnostics for board 50:
2025-04-24 15:04:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:56 ago, cause: software
2025-04-24 15:04:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:51 [debug] Moves scheduled 36204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1668794885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:04:51 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21365, writes 0 timeouts 0
2025-04-24 15:04:51 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36081/37159
2025-04-24 15:04:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:51 [info] currentZPosition:0.0715
2025-04-24 15:04:52 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:52 [debug] Diagnostics for board 50:
2025-04-24 15:04:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:06:57 ago, cause: software
2025-04-24 15:04:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:52 [debug] Moves scheduled 36208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1667740466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:04:52 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17718, writes 0 timeouts 0
2025-04-24 15:04:52 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36037/37113
2025-04-24 15:04:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:52 [info] currentZPosition:0.0718
2025-04-24 15:04:54 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:54 [debug] Diagnostics for board 50:
2025-04-24 15:04:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:06:58 ago, cause: software
2025-04-24 15:04:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:54 [debug] Moves scheduled 36212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1666728566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:04:54 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16948, writes 0 timeouts 0
2025-04-24 15:04:54 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36097/37082
2025-04-24 15:04:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:54 [info] currentZPosition:0.0725
2025-04-24 15:04:55 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:55 [debug] Diagnostics for board 50:
2025-04-24 15:04:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:00 ago, cause: software
2025-04-24 15:04:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:55 [debug] Moves scheduled 36216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1665655001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:04:55 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18028, writes 0 timeouts 0
2025-04-24 15:04:55 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36011/37107
2025-04-24 15:04:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:55 [info] currentZPosition:0.0717
2025-04-24 15:04:56 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:56 [debug] Diagnostics for board 50:
2025-04-24 15:04:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:01 ago, cause: software
2025-04-24 15:04:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:56 [debug] Moves scheduled 36220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 83, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1664644325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:04:56 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16954, writes 0 timeouts 0
2025-04-24 15:04:56 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36098/37115
2025-04-24 15:04:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:56 [info] currentZPosition:0.0722
2025-04-24 15:04:58 [debug] Stopped at height 0.071 mm
2025-04-24 15:04:58 [debug] Diagnostics for board 50:
2025-04-24 15:04:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:03 ago, cause: software
2025-04-24 15:04:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:58 [debug] Moves scheduled 36224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1663571310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:04:58 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17987, writes 0 timeouts 0
2025-04-24 15:04:58 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35994/37109
2025-04-24 15:04:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:58 [info] currentZPosition:0.0714
2025-04-24 15:04:59 [debug] Stopped at height 0.072 mm
2025-04-24 15:04:59 [debug] Diagnostics for board 50:
2025-04-24 15:04:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:04:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:04 ago, cause: software
2025-04-24 15:04:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:04:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:04:59 [debug] Moves scheduled 36228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1662561917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:04:59 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16943, writes 0 timeouts 0
2025-04-24 15:04:59 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36196/37149
2025-04-24 15:04:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:04:59 [info] currentZPosition:0.0721
2025-04-24 15:05:01 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:01 [debug] Diagnostics for board 50:
2025-04-24 15:05:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:05 ago, cause: software
2025-04-24 15:05:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:01 [debug] Moves scheduled 36232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1661507768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:05:01 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17695, writes 0 timeouts 0
2025-04-24 15:05:01 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36099/37109
2025-04-24 15:05:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:01 [info] currentZPosition:0.0722
2025-04-24 15:05:02 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:02 [debug] Diagnostics for board 50:
2025-04-24 15:05:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:07 ago, cause: software
2025-04-24 15:05:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:02 [debug] Moves scheduled 36236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15306
Sync err accum 70, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1660471588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:05:02 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17380, writes 0 timeouts 0
2025-04-24 15:05:02 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36338/37104
2025-04-24 15:05:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:02 [info] currentZPosition:0.0716
2025-04-24 15:05:03 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:03 [debug] Diagnostics for board 50:
2025-04-24 15:05:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:08 ago, cause: software
2025-04-24 15:05:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:03 [debug] Moves scheduled 36240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1659403242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:05:03 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17932, writes 0 timeouts 0
2025-04-24 15:05:03 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36055/37099
2025-04-24 15:05:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:03 [info] currentZPosition:0.0710
2025-04-24 15:05:05 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:05 [debug] Diagnostics for board 50:
2025-04-24 15:05:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:10 ago, cause: software
2025-04-24 15:05:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:05 [debug] Moves scheduled 36244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1658421003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:05:05 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16478, writes 0 timeouts 0
2025-04-24 15:05:05 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36299/37163
2025-04-24 15:05:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:05 [info] currentZPosition:0.0733
2025-04-24 15:05:05 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:06 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:06 [debug] Diagnostics for board 50:
2025-04-24 15:05:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:11 ago, cause: software
2025-04-24 15:05:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:06 [debug] Moves scheduled 36250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 84, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1657099740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:05:06 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22163, writes 0 timeouts 0
2025-04-24 15:05:06 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36011/37120
2025-04-24 15:05:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:07 [info] currentZPosition:0.0716
2025-04-24 15:05:08 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:08 [debug] Diagnostics for board 50:
2025-04-24 15:05:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:07:13 ago, cause: software
2025-04-24 15:05:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:08 [debug] Moves scheduled 36254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1656067574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:05:08 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17322, writes 0 timeouts 0
2025-04-24 15:05:08 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36349/37146
2025-04-24 15:05:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:08 [info] currentZPosition:0.0711
2025-04-24 15:05:09 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:09 [debug] Diagnostics for board 50:
2025-04-24 15:05:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:14 ago, cause: software
2025-04-24 15:05:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:09 [debug] Moves scheduled 36258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1655038789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:05:09 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17254, writes 0 timeouts 0
2025-04-24 15:05:09 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35993/37163
2025-04-24 15:05:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:09 [info] currentZPosition:0.0727
2025-04-24 15:05:10 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:11 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:11 [debug] Diagnostics for board 50:
2025-04-24 15:05:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:16 ago, cause: software
2025-04-24 15:05:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:11 [debug] Moves scheduled 36264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 99, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1653766886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:05:11 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21352, writes 0 timeouts 0
2025-04-24 15:05:11 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 406, adv 36320/37108
2025-04-24 15:05:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:11 [info] currentZPosition:0.0718
2025-04-24 15:05:12 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:12 [debug] Diagnostics for board 50:
2025-04-24 15:05:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:17 ago, cause: software
2025-04-24 15:05:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:12 [debug] Moves scheduled 36268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 98, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1652702817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:12 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17858, writes 0 timeouts 0
2025-04-24 15:05:12 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36017/37118
2025-04-24 15:05:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:12 [info] currentZPosition:0.0714
2025-04-24 15:05:14 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:14 [debug] Diagnostics for board 50:
2025-04-24 15:05:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:07:18 ago, cause: software
2025-04-24 15:05:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:14 [debug] Moves scheduled 36272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 91, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1651710407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:14 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16650, writes 0 timeouts 0
2025-04-24 15:05:14 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36397/37119
2025-04-24 15:05:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:14 [info] currentZPosition:0.0731
2025-04-24 15:05:14 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:15 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:15 [debug] Diagnostics for board 50:
2025-04-24 15:05:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:20 ago, cause: software
2025-04-24 15:05:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:15 [debug] Moves scheduled 36278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1650395070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:15 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22074, writes 0 timeouts 0
2025-04-24 15:05:15 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36076/37165
2025-04-24 15:05:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:15 [info] currentZPosition:0.0716
2025-04-24 15:05:17 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:17 [debug] Diagnostics for board 50:
2025-04-24 15:05:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:22 ago, cause: software
2025-04-24 15:05:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:17 [debug] Moves scheduled 36282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1649388201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:17 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16895, writes 0 timeouts 0
2025-04-24 15:05:17 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36304/37148
2025-04-24 15:05:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:17 [info] currentZPosition:0.0725
2025-04-24 15:05:18 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:18 [debug] Diagnostics for board 50:
2025-04-24 15:05:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:07:23 ago, cause: software
2025-04-24 15:05:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:18 [debug] Moves scheduled 36286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1648344047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:05:18 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17509, writes 0 timeouts 0
2025-04-24 15:05:18 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36085/37144
2025-04-24 15:05:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:18 [info] currentZPosition:0.0731
2025-04-24 15:05:19 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:19 [debug] Diagnostics for board 50:
2025-04-24 15:05:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:24 ago, cause: software
2025-04-24 15:05:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:19 [debug] Moves scheduled 36290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1647318621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:05:19 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17211, writes 0 timeouts 0
2025-04-24 15:05:19 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36346/37120
2025-04-24 15:05:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8994, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:20 [info] currentZPosition:0.0731
2025-04-24 15:05:21 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:21 [debug] Diagnostics for board 50:
2025-04-24 15:05:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:26 ago, cause: software
2025-04-24 15:05:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:21 [debug] Moves scheduled 36294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1646234763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:05:21 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18172, writes 0 timeouts 0
2025-04-24 15:05:21 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35990/37130
2025-04-24 15:05:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:21 [info] currentZPosition:0.0717
2025-04-24 15:05:21 [debug] Stopped at height 0.070 mm
2025-04-24 15:05:22 [debug] Stopped at height 0.069 mm
2025-04-24 15:05:23 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:23 [debug] Diagnostics for board 50:
2025-04-24 15:05:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:28 ago, cause: software
2025-04-24 15:05:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:23 [debug] Moves scheduled 36302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1644741385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:05:23 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25112, writes 0 timeouts 0
2025-04-24 15:05:23 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 411, adv 36314/37138
2025-04-24 15:05:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:23 [info] currentZPosition:0.0726
2025-04-24 15:05:23 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:25 [debug] Stopped at height 0.074 mm
2025-04-24 15:05:25 [debug] Diagnostics for board 50:
2025-04-24 15:05:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:29 ago, cause: software
2025-04-24 15:05:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:25 [debug] Moves scheduled 36308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1643462257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:25 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21428, writes 0 timeouts 0
2025-04-24 15:05:25 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36039/37124
2025-04-24 15:05:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9004, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:25 [info] currentZPosition:0.0737
2025-04-24 15:05:25 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:26 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:26 [debug] Diagnostics for board 50:
2025-04-24 15:05:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:31 ago, cause: software
2025-04-24 15:05:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:26 [debug] Moves scheduled 36314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 89, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1642191534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:26 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21324, writes 0 timeouts 0
2025-04-24 15:05:26 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36294/37126
2025-04-24 15:05:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:26 [info] currentZPosition:0.0731
2025-04-24 15:05:28 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:28 [debug] Diagnostics for board 50:
2025-04-24 15:05:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:33 ago, cause: software
2025-04-24 15:05:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:28 [debug] Moves scheduled 36318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 83, peak jitter -1/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1641141183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:05:28 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17628, writes 0 timeouts 0
2025-04-24 15:05:28 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36057/37156
2025-04-24 15:05:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:28 [info] currentZPosition:0.0734
2025-04-24 15:05:29 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:29 [debug] Diagnostics for board 50:
2025-04-24 15:05:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:34 ago, cause: software
2025-04-24 15:05:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:29 [debug] Moves scheduled 36322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1640093880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:05:29 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17551, writes 0 timeouts 0
2025-04-24 15:05:29 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36317/37120
2025-04-24 15:05:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:29 [info] currentZPosition:0.0721
2025-04-24 15:05:30 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:31 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:31 [debug] Diagnostics for board 50:
2025-04-24 15:05:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:36 ago, cause: software
2025-04-24 15:05:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:31 [debug] Moves scheduled 36328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1638810778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:31 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21551, writes 0 timeouts 0
2025-04-24 15:05:31 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36039/37090
2025-04-24 15:05:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:31 [info] currentZPosition:0.0730
2025-04-24 15:05:31 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:32 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:32 [debug] Diagnostics for board 50:
2025-04-24 15:05:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:37 ago, cause: software
2025-04-24 15:05:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:32 [debug] Moves scheduled 36334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1637540474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:32 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21318, writes 0 timeouts 0
2025-04-24 15:05:32 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36334/37123
2025-04-24 15:05:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:33 [info] currentZPosition:0.0722
2025-04-24 15:05:34 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:34 [debug] Diagnostics for board 50:
2025-04-24 15:05:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:39 ago, cause: software
2025-04-24 15:05:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:34 [debug] Moves scheduled 36338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1636504372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:05:34 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17379, writes 0 timeouts 0
2025-04-24 15:05:34 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36035/37121
2025-04-24 15:05:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:34 [info] currentZPosition:0.0735
2025-04-24 15:05:34 [debug] Stopped at height 0.071 mm
2025-04-24 15:05:36 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:36 [debug] Diagnostics for board 50:
2025-04-24 15:05:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:40 ago, cause: software
2025-04-24 15:05:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:36 [debug] Moves scheduled 36344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1635214067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:36 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21632, writes 0 timeouts 0
2025-04-24 15:05:36 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36330/37124
2025-04-24 15:05:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:36 [info] currentZPosition:0.0717
2025-04-24 15:05:37 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:37 [debug] Diagnostics for board 50:
2025-04-24 15:05:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:42 ago, cause: software
2025-04-24 15:05:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:37 [debug] Moves scheduled 36348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1634183673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:05:37 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17309, writes 0 timeouts 0
2025-04-24 15:05:37 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 422, adv 36018/37109
2025-04-24 15:05:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:37 [info] currentZPosition:0.0730
2025-04-24 15:05:37 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:39 [debug] Stopped at height 0.074 mm
2025-04-24 15:05:39 [debug] Diagnostics for board 50:
2025-04-24 15:05:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:44 ago, cause: software
2025-04-24 15:05:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:39 [debug] Moves scheduled 36354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 120, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1632938029 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:05:39 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20877, writes 0 timeouts 0
2025-04-24 15:05:39 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36331/37142
2025-04-24 15:05:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:39 [info] currentZPosition:0.0736
2025-04-24 15:05:39 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:40 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:40 [debug] Diagnostics for board 50:
2025-04-24 15:05:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:45 ago, cause: software
2025-04-24 15:05:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:40 [debug] Moves scheduled 36360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 125, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1631631000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:05:40 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21933, writes 0 timeouts 0
2025-04-24 15:05:40 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 35998/37114
2025-04-24 15:05:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:40 [info] currentZPosition:0.0725
2025-04-24 15:05:42 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:42 [debug] Diagnostics for board 50:
2025-04-24 15:05:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:47 ago, cause: software
2025-04-24 15:05:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:42 [debug] Moves scheduled 36364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 125, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1630613143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:05:42 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17070, writes 0 timeouts 0
2025-04-24 15:05:42 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36328/37114
2025-04-24 15:05:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:42 [info] currentZPosition:0.0727
2025-04-24 15:05:43 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:43 [debug] Diagnostics for board 50:
2025-04-24 15:05:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:48 ago, cause: software
2025-04-24 15:05:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:43 [debug] Moves scheduled 36368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 124, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1629544062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:05:43 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17946, writes 0 timeouts 0
2025-04-24 15:05:43 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36019/37107
2025-04-24 15:05:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:43 [info] currentZPosition:0.0721
2025-04-24 15:05:44 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:44 [debug] Diagnostics for board 50:
2025-04-24 15:05:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:49 ago, cause: software
2025-04-24 15:05:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:44 [debug] Moves scheduled 36372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 119, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1628539112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:05:44 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16849, writes 0 timeouts 0
2025-04-24 15:05:44 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36346/37124
2025-04-24 15:05:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:45 [info] currentZPosition:0.0731
2025-04-24 15:05:46 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:46 [debug] Diagnostics for board 50:
2025-04-24 15:05:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:51 ago, cause: software
2025-04-24 15:05:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:46 [debug] Moves scheduled 36376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1627465927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:05:46 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18003, writes 0 timeouts 0
2025-04-24 15:05:46 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36023/37102
2025-04-24 15:05:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:46 [info] currentZPosition:0.0721
2025-04-24 15:05:47 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:47 [debug] Diagnostics for board 50:
2025-04-24 15:05:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:52 ago, cause: software
2025-04-24 15:05:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:47 [debug] Moves scheduled 36380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1626464365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:05:47 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16804, writes 0 timeouts 0
2025-04-24 15:05:47 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36335/37104
2025-04-24 15:05:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:47 [info] currentZPosition:0.0734
2025-04-24 15:05:48 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:49 [debug] Stopped at height 0.074 mm
2025-04-24 15:05:49 [debug] Diagnostics for board 50:
2025-04-24 15:05:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:54 ago, cause: software
2025-04-24 15:05:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:49 [debug] Moves scheduled 36386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 89, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1625175082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:05:49 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21616, writes 0 timeouts 0
2025-04-24 15:05:49 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36024/37103
2025-04-24 15:05:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:49 [info] currentZPosition:0.0737
2025-04-24 15:05:50 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:50 [debug] Diagnostics for board 50:
2025-04-24 15:05:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:55 ago, cause: software
2025-04-24 15:05:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:50 [debug] Moves scheduled 36390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1624139814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:05:50 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17386, writes 0 timeouts 0
2025-04-24 15:05:50 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36349/37147
2025-04-24 15:05:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:50 [info] currentZPosition:0.0732
2025-04-24 15:05:52 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:52 [debug] Diagnostics for board 50:
2025-04-24 15:05:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:57 ago, cause: software
2025-04-24 15:05:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:52 [debug] Moves scheduled 36394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -4/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1623086957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:05:52 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17659, writes 0 timeouts 0
2025-04-24 15:05:52 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35989/37099
2025-04-24 15:05:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:52 [info] currentZPosition:0.0734
2025-04-24 15:05:53 [debug] Stopped at height 0.072 mm
2025-04-24 15:05:53 [debug] Diagnostics for board 50:
2025-04-24 15:05:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:07:58 ago, cause: software
2025-04-24 15:05:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:53 [debug] Moves scheduled 36398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1622045703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:05:53 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17470, writes 0 timeouts 0
2025-04-24 15:05:53 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36334/37117
2025-04-24 15:05:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:53 [info] currentZPosition:0.0724
2025-04-24 15:05:55 [debug] Stopped at height 0.074 mm
2025-04-24 15:05:55 [debug] Diagnostics for board 50:
2025-04-24 15:05:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:07:59 ago, cause: software
2025-04-24 15:05:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:55 [debug] Moves scheduled 36402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1621025182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:05:55 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17110, writes 0 timeouts 0
2025-04-24 15:05:55 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36039/37149
2025-04-24 15:05:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8991, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:55 [info] currentZPosition:0.0743
2025-04-24 15:05:55 [debug] Stopped at height 0.074 mm
2025-04-24 15:05:56 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:56 [debug] Diagnostics for board 50:
2025-04-24 15:05:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:01 ago, cause: software
2025-04-24 15:05:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:56 [debug] Moves scheduled 36408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1619746780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:05:56 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21512, writes 0 timeouts 0
2025-04-24 15:05:56 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36191/37098
2025-04-24 15:05:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:56 [info] currentZPosition:0.0733
2025-04-24 15:05:58 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:58 [debug] Diagnostics for board 50:
2025-04-24 15:05:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:03 ago, cause: software
2025-04-24 15:05:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:58 [debug] Moves scheduled 36412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1618676007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:05:58 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17904, writes 0 timeouts 0
2025-04-24 15:05:58 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36020/37122
2025-04-24 15:05:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:58 [info] currentZPosition:0.0728
2025-04-24 15:05:59 [debug] Stopped at height 0.073 mm
2025-04-24 15:05:59 [debug] Diagnostics for board 50:
2025-04-24 15:05:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:05:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:04 ago, cause: software
2025-04-24 15:05:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:05:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:05:59 [debug] Moves scheduled 36416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1617657176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:05:59 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17086, writes 0 timeouts 0
2025-04-24 15:05:59 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36106/37135
2025-04-24 15:05:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:05:59 [info] currentZPosition:0.0729
2025-04-24 15:06:00 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:00 [debug] Diagnostics for board 50:
2025-04-24 15:06:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:05 ago, cause: software
2025-04-24 15:06:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:00 [debug] Moves scheduled 36420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1616628652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:06:00 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17264, writes 0 timeouts 0
2025-04-24 15:06:00 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36030/37105
2025-04-24 15:06:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 822
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:00 [info] currentZPosition:0.0743
2025-04-24 15:06:01 [debug] Stopped at height 0.072 mm
2025-04-24 15:06:02 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:02 [debug] Diagnostics for board 50:
2025-04-24 15:06:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:07 ago, cause: software
2025-04-24 15:06:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:02 [debug] Moves scheduled 36426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1615349568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:06:02 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21467, writes 0 timeouts 0
2025-04-24 15:06:02 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36045/37120
2025-04-24 15:06:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:02 [info] currentZPosition:0.0730
2025-04-24 15:06:03 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:03 [debug] Diagnostics for board 50:
2025-04-24 15:06:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:08 ago, cause: software
2025-04-24 15:06:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:03 [debug] Moves scheduled 36430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1614307205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:06:03 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17487, writes 0 timeouts 0
2025-04-24 15:06:03 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36066/37107
2025-04-24 15:06:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:04 [info] currentZPosition:0.0740
2025-04-24 15:06:05 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:05 [debug] Diagnostics for board 50:
2025-04-24 15:06:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:10 ago, cause: software
2025-04-24 15:06:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:05 [debug] Moves scheduled 36434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1613268836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:06:05 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17419, writes 0 timeouts 0
2025-04-24 15:06:05 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36111/37157
2025-04-24 15:06:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:05 [info] currentZPosition:0.0730
2025-04-24 15:06:06 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:06 [debug] Diagnostics for board 50:
2025-04-24 15:06:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:11 ago, cause: software
2025-04-24 15:06:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:06 [debug] Moves scheduled 36438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1612229876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:06:06 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17441, writes 0 timeouts 0
2025-04-24 15:06:06 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36015/37155
2025-04-24 15:06:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9007, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:06 [info] currentZPosition:0.0739
2025-04-24 15:06:08 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:08 [debug] Diagnostics for board 50:
2025-04-24 15:06:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:12 ago, cause: software
2025-04-24 15:06:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:08 [debug] Moves scheduled 36442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967242 ticks, disabled, next step interrupt due in 1611201181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:06:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17252, writes 0 timeouts 0
2025-04-24 15:06:08 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36100/37146
2025-04-24 15:06:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:08 [info] currentZPosition:0.0736
2025-04-24 15:06:09 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:09 [debug] Diagnostics for board 50:
2025-04-24 15:06:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:14 ago, cause: software
2025-04-24 15:06:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:09 [debug] Moves scheduled 36446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1610132718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:06:09 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17934, writes 0 timeouts 0
2025-04-24 15:06:09 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36025/37095
2025-04-24 15:06:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:09 [info] currentZPosition:0.0731
2025-04-24 15:06:10 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:10 [debug] Diagnostics for board 50:
2025-04-24 15:06:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:15 ago, cause: software
2025-04-24 15:06:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:10 [debug] Moves scheduled 36450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 92, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1609113126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:06:10 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17105, writes 0 timeouts 0
2025-04-24 15:06:10 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36073/37133
2025-04-24 15:06:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:10 [info] currentZPosition:0.0732
2025-04-24 15:06:12 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:12 [debug] Diagnostics for board 50:
2025-04-24 15:06:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:17 ago, cause: software
2025-04-24 15:06:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:12 [debug] Moves scheduled 36454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1608072201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:06:12 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17459, writes 0 timeouts 0
2025-04-24 15:06:12 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36087/37123
2025-04-24 15:06:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9026, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:12 [info] currentZPosition:0.0740
2025-04-24 15:06:13 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:13 [debug] Diagnostics for board 50:
2025-04-24 15:06:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:18 ago, cause: software
2025-04-24 15:06:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:13 [debug] Moves scheduled 36458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 93, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1607053029 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:06:13 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17100, writes 0 timeouts 0
2025-04-24 15:06:13 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36058/37132
2025-04-24 15:06:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:13 [info] currentZPosition:0.0740
2025-04-24 15:06:15 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:15 [debug] Diagnostics for board 50:
2025-04-24 15:06:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:08:19 ago, cause: software
2025-04-24 15:06:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:15 [debug] Moves scheduled 36462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1605983765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:06:15 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17962, writes 0 timeouts 0
2025-04-24 15:06:15 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36009/37139
2025-04-24 15:06:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:15 [info] currentZPosition:0.0733
2025-04-24 15:06:16 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:16 [debug] Diagnostics for board 50:
2025-04-24 15:06:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:21 ago, cause: software
2025-04-24 15:06:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:16 [debug] Moves scheduled 36466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1604962317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:06:16 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17118, writes 0 timeouts 0
2025-04-24 15:06:16 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36084/37151
2025-04-24 15:06:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:16 [info] currentZPosition:0.0733
2025-04-24 15:06:17 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:17 [debug] Diagnostics for board 50:
2025-04-24 15:06:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:22 ago, cause: software
2025-04-24 15:06:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:17 [debug] Moves scheduled 36470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1603922809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:06:17 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17455, writes 0 timeouts 0
2025-04-24 15:06:17 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 36061/37143
2025-04-24 15:06:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:17 [info] currentZPosition:0.0744
2025-04-24 15:06:19 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:19 [debug] Diagnostics for board 50:
2025-04-24 15:06:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:24 ago, cause: software
2025-04-24 15:06:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:19 [debug] Moves scheduled 36474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1602901283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:06:19 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17141, writes 0 timeouts 0
2025-04-24 15:06:19 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36080/37120
2025-04-24 15:06:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9009, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:19 [info] currentZPosition:0.0746
2025-04-24 15:06:20 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:20 [debug] Diagnostics for board 50:
2025-04-24 15:06:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:25 ago, cause: software
2025-04-24 15:06:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:20 [debug] Moves scheduled 36478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1601827738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:06:20 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18007, writes 0 timeouts 0
2025-04-24 15:06:20 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36041/37105
2025-04-24 15:06:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:20 [info] currentZPosition:0.0739
2025-04-24 15:06:21 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:21 [debug] Diagnostics for board 50:
2025-04-24 15:06:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:26 ago, cause: software
2025-04-24 15:06:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:21 [debug] Moves scheduled 36482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1600816733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:06:21 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16965, writes 0 timeouts 0
2025-04-24 15:06:21 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36097/37141
2025-04-24 15:06:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:22 [info] currentZPosition:0.0744
2025-04-24 15:06:23 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:23 [debug] Diagnostics for board 50:
2025-04-24 15:06:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:28 ago, cause: software
2025-04-24 15:06:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:23 [debug] Moves scheduled 36486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1599754765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:06:23 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17824, writes 0 timeouts 0
2025-04-24 15:06:23 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36011/37082
2025-04-24 15:06:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:23 [info] currentZPosition:0.0742
2025-04-24 15:06:24 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:24 [debug] Diagnostics for board 50:
2025-04-24 15:06:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:29 ago, cause: software
2025-04-24 15:06:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:24 [debug] Moves scheduled 36490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 94, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1598720401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:06:24 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17356, writes 0 timeouts 0
2025-04-24 15:06:24 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36075/37115
2025-04-24 15:06:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:24 [info] currentZPosition:0.0737
2025-04-24 15:06:26 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:26 [debug] Diagnostics for board 50:
2025-04-24 15:06:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:31 ago, cause: software
2025-04-24 15:06:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:26 [debug] Moves scheduled 36494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=72, frequency (Hz): min=8620, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1597655137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:06:26 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17869, writes 0 timeouts 0
2025-04-24 15:06:26 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36055/37122
2025-04-24 15:06:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:26 [info] currentZPosition:0.0732
2025-04-24 15:06:27 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:27 [debug] Diagnostics for board 50:
2025-04-24 15:06:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:32 ago, cause: software
2025-04-24 15:06:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:27 [debug] Moves scheduled 36498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 92, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1596653865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:06:27 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16804, writes 0 timeouts 0
2025-04-24 15:06:27 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36103/37130
2025-04-24 15:06:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:27 [info] currentZPosition:0.0744
2025-04-24 15:06:28 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:28 [debug] Diagnostics for board 50:
2025-04-24 15:06:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:33 ago, cause: software
2025-04-24 15:06:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:28 [debug] Moves scheduled 36502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 87, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1595591925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:06:28 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17808, writes 0 timeouts 0
2025-04-24 15:06:28 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36093/37169
2025-04-24 15:06:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:29 [info] currentZPosition:0.0741
2025-04-24 15:06:30 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:30 [debug] Diagnostics for board 50:
2025-04-24 15:06:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:35 ago, cause: software
2025-04-24 15:06:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:30 [debug] Moves scheduled 36506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 80, peak jitter -1/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1594578607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:06:30 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17028, writes 0 timeouts 0
2025-04-24 15:06:30 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36117/37076
2025-04-24 15:06:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:30 [info] currentZPosition:0.0746
2025-04-24 15:06:31 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:31 [debug] Diagnostics for board 50:
2025-04-24 15:06:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:36 ago, cause: software
2025-04-24 15:06:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:31 [debug] Moves scheduled 36510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1593533154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:06:31 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17528, writes 0 timeouts 0
2025-04-24 15:06:31 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36065/37094
2025-04-24 15:06:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8953, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:31 [info] currentZPosition:0.0752
2025-04-24 15:06:33 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:33 [debug] Diagnostics for board 50:
2025-04-24 15:06:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:37 ago, cause: software
2025-04-24 15:06:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:33 [debug] Moves scheduled 36514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1592477520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:06:33 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17718, writes 0 timeouts 0
2025-04-24 15:06:33 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36069/37157
2025-04-24 15:06:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:33 [info] currentZPosition:0.0734
2025-04-24 15:06:33 [debug] Stopped at height 0.072 mm
2025-04-24 15:06:34 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:34 [debug] Diagnostics for board 50:
2025-04-24 15:06:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:39 ago, cause: software
2025-04-24 15:06:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:34 [debug] Moves scheduled 36520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1591175475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:06:34 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21872, writes 0 timeouts 0
2025-04-24 15:06:34 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 35975/37146
2025-04-24 15:06:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:34 [info] currentZPosition:0.0733
2025-04-24 15:06:36 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:36 [debug] Diagnostics for board 50:
2025-04-24 15:06:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:41 ago, cause: software
2025-04-24 15:06:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:36 [debug] Moves scheduled 36524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8720, max=15000
Sync err accum 95, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1590160124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:06:36 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17001, writes 0 timeouts 0
2025-04-24 15:06:36 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36066/37100
2025-04-24 15:06:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:36 [info] currentZPosition:0.0736
2025-04-24 15:06:37 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:37 [debug] Diagnostics for board 50:
2025-04-24 15:06:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:42 ago, cause: software
2025-04-24 15:06:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:37 [debug] Moves scheduled 36528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 105, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1589100137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:06:37 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17784, writes 0 timeouts 0
2025-04-24 15:06:37 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36074/37132
2025-04-24 15:06:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:37 [info] currentZPosition:0.0734
2025-04-24 15:06:38 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:38 [debug] Diagnostics for board 50:
2025-04-24 15:06:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:43 ago, cause: software
2025-04-24 15:06:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:38 [debug] Moves scheduled 36532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8620, max=15000
Sync err accum 112, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1588106834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:06:38 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16701, writes 0 timeouts 0
2025-04-24 15:06:38 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36133/37135
2025-04-24 15:06:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:39 [info] currentZPosition:0.0748
2025-04-24 15:06:39 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:40 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:40 [debug] Diagnostics for board 50:
2025-04-24 15:06:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:45 ago, cause: software
2025-04-24 15:06:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:40 [debug] Moves scheduled 36538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 116, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1586808831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:06:40 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21751, writes 0 timeouts 0
2025-04-24 15:06:40 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36004/37142
2025-04-24 15:06:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:40 [info] currentZPosition:0.0743
2025-04-24 15:06:41 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:41 [debug] Diagnostics for board 50:
2025-04-24 15:06:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:08:46 ago, cause: software
2025-04-24 15:06:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:41 [debug] Moves scheduled 36542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 117, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1585787004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:06:41 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17149, writes 0 timeouts 0
2025-04-24 15:06:41 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36102/37106
2025-04-24 15:06:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:42 [info] currentZPosition:0.0742
2025-04-24 15:06:43 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:43 [debug] Diagnostics for board 50:
2025-04-24 15:06:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:48 ago, cause: software
2025-04-24 15:06:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:43 [debug] Moves scheduled 36546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 115, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1584721607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:06:43 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17897, writes 0 timeouts 0
2025-04-24 15:06:43 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36098/37122
2025-04-24 15:06:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:43 [info] currentZPosition:0.0737
2025-04-24 15:06:44 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:44 [debug] Diagnostics for board 50:
2025-04-24 15:06:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:49 ago, cause: software
2025-04-24 15:06:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:44 [debug] Moves scheduled 36550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1583699439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:06:44 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17126, writes 0 timeouts 0
2025-04-24 15:06:44 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36116/37125
2025-04-24 15:06:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:44 [info] currentZPosition:0.0736
2025-04-24 15:06:46 [debug] Stopped at height 0.073 mm
2025-04-24 15:06:46 [debug] Diagnostics for board 50:
2025-04-24 15:06:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:08:51 ago, cause: software
2025-04-24 15:06:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:46 [debug] Moves scheduled 36554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 103, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1582640663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, ma
2025-04-24 15:06:46 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17768, writes 0 timeouts 0
2025-04-24 15:06:46 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36052/37140
2025-04-24 15:06:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:46 [info] currentZPosition:0.0734
2025-04-24 15:06:47 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:47 [debug] Diagnostics for board 50:
2025-04-24 15:06:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:52 ago, cause: software
2025-04-24 15:06:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:47 [debug] Moves scheduled 36558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1581632883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:06:47 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16935, writes 0 timeouts 0
2025-04-24 15:06:47 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36076/37107
2025-04-24 15:06:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:47 [info] currentZPosition:0.0740
2025-04-24 15:06:48 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:48 [debug] Diagnostics for board 50:
2025-04-24 15:06:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:53 ago, cause: software
2025-04-24 15:06:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:48 [debug] Moves scheduled 36562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 79, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1580564605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:06:48 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17881, writes 0 timeouts 0
2025-04-24 15:06:48 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35994/37114
2025-04-24 15:06:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:49 [info] currentZPosition:0.0736
2025-04-24 15:06:50 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:50 [debug] Diagnostics for board 50:
2025-04-24 15:06:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:55 ago, cause: software
2025-04-24 15:06:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:50 [debug] Moves scheduled 36566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1579553320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:06:50 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16969, writes 0 timeouts 0
2025-04-24 15:06:50 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36233/37110
2025-04-24 15:06:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:50 [info] currentZPosition:0.0743
2025-04-24 15:06:51 [debug] Stopped at height 0.074 mm
2025-04-24 15:06:51 [debug] Diagnostics for board 50:
2025-04-24 15:06:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:08:56 ago, cause: software
2025-04-24 15:06:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:51 [debug] Moves scheduled 36570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1578499531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:06:51 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17707, writes 0 timeouts 0
2025-04-24 15:06:51 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36046/37137
2025-04-24 15:06:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:51 [info] currentZPosition:0.0744
2025-04-24 15:06:53 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:53 [debug] Diagnostics for board 50:
2025-04-24 15:06:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:08:57 ago, cause: software
2025-04-24 15:06:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:53 [debug] Moves scheduled 36574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 79, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1577496950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:06:53 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16805, writes 0 timeouts 0
2025-04-24 15:06:53 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36328/37150
2025-04-24 15:06:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8976, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:53 [info] currentZPosition:0.0754
2025-04-24 15:06:54 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:54 [debug] Diagnostics for board 50:
2025-04-24 15:06:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:08:59 ago, cause: software
2025-04-24 15:06:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:54 [debug] Moves scheduled 36578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1576430674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:06:54 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17891, writes 0 timeouts 0
2025-04-24 15:06:54 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36006/37124
2025-04-24 15:06:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:54 [info] currentZPosition:0.0750
2025-04-24 15:06:55 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:55 [debug] Diagnostics for board 50:
2025-04-24 15:06:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:00 ago, cause: software
2025-04-24 15:06:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:55 [debug] Moves scheduled 36582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1575415521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:06:55 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17061, writes 0 timeouts 0
2025-04-24 15:06:55 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36376/37155
2025-04-24 15:06:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 822
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:55 [info] currentZPosition:0.0754
2025-04-24 15:06:57 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:57 [debug] Diagnostics for board 50:
2025-04-24 15:06:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:09:02 ago, cause: software
2025-04-24 15:06:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:57 [debug] Moves scheduled 36586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1574343136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:06:57 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17949, writes 0 timeouts 0
2025-04-24 15:06:57 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36076/37096
2025-04-24 15:06:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:57 [info] currentZPosition:0.0747
2025-04-24 15:06:58 [debug] Stopped at height 0.075 mm
2025-04-24 15:06:58 [debug] Diagnostics for board 50:
2025-04-24 15:06:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:06:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:03 ago, cause: software
2025-04-24 15:06:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:06:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:06:58 [debug] Moves scheduled 36590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1573319598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:06:58 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17176, writes 0 timeouts 0
2025-04-24 15:06:58 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36294/37146
2025-04-24 15:06:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:06:58 [info] currentZPosition:0.0746
2025-04-24 15:07:00 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:00 [debug] Diagnostics for board 50:
2025-04-24 15:07:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:04 ago, cause: software
2025-04-24 15:07:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:00 [debug] Moves scheduled 36594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1572248443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:07:00 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18005, writes 0 timeouts 0
2025-04-24 15:07:00 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36087/37122
2025-04-24 15:07:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:00 [info] currentZPosition:0.0737
2025-04-24 15:07:01 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:01 [debug] Diagnostics for board 50:
2025-04-24 15:07:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:06 ago, cause: software
2025-04-24 15:07:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:01 [debug] Moves scheduled 36598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15306
Sync err accum 95, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1571255413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:07:01 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16633, writes 0 timeouts 0
2025-04-24 15:07:01 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36292/37121
2025-04-24 15:07:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:01 [info] currentZPosition:0.0753
2025-04-24 15:07:01 [debug] Stopped at height 0.073 mm
2025-04-24 15:07:03 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:03 [debug] Diagnostics for board 50:
2025-04-24 15:07:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:07 ago, cause: software
2025-04-24 15:07:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:03 [debug] Moves scheduled 36604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1569951992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:07:03 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21878, writes 0 timeouts 0
2025-04-24 15:07:03 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36031/37091
2025-04-24 15:07:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:03 [info] currentZPosition:0.0746
2025-04-24 15:07:03 [debug] Stopped at height 0.073 mm
2025-04-24 15:07:04 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:04 [debug] Diagnostics for board 50:
2025-04-24 15:07:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:09 ago, cause: software
2025-04-24 15:07:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:04 [debug] Moves scheduled 36610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1568693133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:07:04 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21125, writes 0 timeouts 0
2025-04-24 15:07:04 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36321/37144
2025-04-24 15:07:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:04 [info] currentZPosition:0.0747
2025-04-24 15:07:06 [debug] Stopped at height 0.076 mm
2025-04-24 15:07:06 [debug] Diagnostics for board 50:
2025-04-24 15:07:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:11 ago, cause: software
2025-04-24 15:07:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:06 [debug] Moves scheduled 36614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1567654257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:07:06 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17436, writes 0 timeouts 0
2025-04-24 15:07:06 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36061/37127
2025-04-24 15:07:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9013, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:06 [info] currentZPosition:0.0755
2025-04-24 15:07:07 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:07 [debug] Diagnostics for board 50:
2025-04-24 15:07:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:12 ago, cause: software
2025-04-24 15:07:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:07 [debug] Moves scheduled 36618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 73, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1566623499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:07:07 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17281, writes 0 timeouts 0
2025-04-24 15:07:07 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36375/37164
2025-04-24 15:07:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9010, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:07 [info] currentZPosition:0.0753
2025-04-24 15:07:08 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:08 [debug] Diagnostics for board 50:
2025-04-24 15:07:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:13 ago, cause: software
2025-04-24 15:07:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:08 [debug] Moves scheduled 36622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1565555625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:07:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17933, writes 0 timeouts 0
2025-04-24 15:07:08 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36053/37165
2025-04-24 15:07:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:09 [info] currentZPosition:0.0748
2025-04-24 15:07:10 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:10 [debug] Diagnostics for board 50:
2025-04-24 15:07:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:15 ago, cause: software
2025-04-24 15:07:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:10 [debug] Moves scheduled 36626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1564539108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:07:10 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17055, writes 0 timeouts 0
2025-04-24 15:07:10 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36338/37136
2025-04-24 15:07:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:10 [info] currentZPosition:0.0750
2025-04-24 15:07:11 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:11 [debug] Diagnostics for board 50:
2025-04-24 15:07:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:16 ago, cause: software
2025-04-24 15:07:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:11 [debug] Moves scheduled 36630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1563460473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:07:11 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18103, writes 0 timeouts 0
2025-04-24 15:07:11 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36002/37144
2025-04-24 15:07:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:11 [info] currentZPosition:0.0739
2025-04-24 15:07:13 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:13 [debug] Diagnostics for board 50:
2025-04-24 15:07:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:17 ago, cause: software
2025-04-24 15:07:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:13 [debug] Moves scheduled 36634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1562465241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:07:13 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16701, writes 0 timeouts 0
2025-04-24 15:07:13 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36349/37134
2025-04-24 15:07:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:13 [info] currentZPosition:0.0753
2025-04-24 15:07:13 [debug] Stopped at height 0.073 mm
2025-04-24 15:07:14 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:14 [debug] Diagnostics for board 50:
2025-04-24 15:07:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:19 ago, cause: software
2025-04-24 15:07:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:14 [debug] Moves scheduled 36640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 117, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1561172676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:07:14 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21704, writes 0 timeouts 0
2025-04-24 15:07:14 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36017/37123
2025-04-24 15:07:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:14 [info] currentZPosition:0.0749
2025-04-24 15:07:15 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:16 [debug] Stopped at height 0.076 mm
2025-04-24 15:07:16 [debug] Diagnostics for board 50:
2025-04-24 15:07:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:21 ago, cause: software
2025-04-24 15:07:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:16 [debug] Moves scheduled 36646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 114, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1559928980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:07:16 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20855, writes 0 timeouts 0
2025-04-24 15:07:16 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36378/37146
2025-04-24 15:07:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:16 [info] currentZPosition:0.0756
2025-04-24 15:07:16 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:18 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:18 [debug] Diagnostics for board 50:
2025-04-24 15:07:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:23 ago, cause: software
2025-04-24 15:07:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:18 [debug] Moves scheduled 36652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 108, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1558605257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:07:18 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22210, writes 0 timeouts 0
2025-04-24 15:07:18 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36007/37086
2025-04-24 15:07:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:18 [info] currentZPosition:0.0740
2025-04-24 15:07:19 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:19 [debug] Diagnostics for board 50:
2025-04-24 15:07:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:24 ago, cause: software
2025-04-24 15:07:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:19 [debug] Moves scheduled 36656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 102, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1557586490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, ma
2025-04-24 15:07:19 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17094, writes 0 timeouts 0
2025-04-24 15:07:19 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36332/37171
2025-04-24 15:07:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:19 [info] currentZPosition:0.0743
2025-04-24 15:07:21 [debug] Stopped at height 0.073 mm
2025-04-24 15:07:21 [debug] Diagnostics for board 50:
2025-04-24 15:07:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:25 ago, cause: software
2025-04-24 15:07:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:21 [debug] Moves scheduled 36660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1556497388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:07:21 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18266, writes 0 timeouts 0
2025-04-24 15:07:21 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36071/37124
2025-04-24 15:07:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:21 [info] currentZPosition:0.0727
2025-04-24 15:07:21 [debug] Stopped at height 0.070 mm
2025-04-24 15:07:21 [debug] Stopped at height 0.070 mm
2025-04-24 15:07:22 [debug] Stopped at height 0.076 mm
2025-04-24 15:07:22 [debug] Diagnostics for board 50:
2025-04-24 15:07:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:27 ago, cause: software
2025-04-24 15:07:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:22 [debug] Moves scheduled 36668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 66, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1555040112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:07:22 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24452, writes 0 timeouts 0
2025-04-24 15:07:22 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36397/37160
2025-04-24 15:07:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:23 [info] currentZPosition:0.0757
2025-04-24 15:07:23 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:24 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:24 [debug] Diagnostics for board 50:
2025-04-24 15:07:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:29 ago, cause: software
2025-04-24 15:07:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:24 [debug] Moves scheduled 36674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1553702850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:07:24 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22430, writes 0 timeouts 0
2025-04-24 15:07:24 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36042/37136
2025-04-24 15:07:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:24 [info] currentZPosition:0.0739
2025-04-24 15:07:26 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:26 [debug] Diagnostics for board 50:
2025-04-24 15:07:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:30 ago, cause: software
2025-04-24 15:07:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:26 [debug] Moves scheduled 36678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1552699911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:07:26 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16837, writes 0 timeouts 0
2025-04-24 15:07:26 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36373/37095
2025-04-24 15:07:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:26 [info] currentZPosition:0.0750
2025-04-24 15:07:27 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:27 [debug] Diagnostics for board 50:
2025-04-24 15:07:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:32 ago, cause: software
2025-04-24 15:07:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:27 [debug] Moves scheduled 36682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 88, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1551637095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:07:27 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17837, writes 0 timeouts 0
2025-04-24 15:07:27 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36026/37101
2025-04-24 15:07:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:27 [info] currentZPosition:0.0748
2025-04-24 15:07:28 [debug] Stopped at height 0.076 mm
2025-04-24 15:07:28 [debug] Diagnostics for board 50:
2025-04-24 15:07:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:33 ago, cause: software
2025-04-24 15:07:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:28 [debug] Moves scheduled 36686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1550644682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:07:28 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16658, writes 0 timeouts 0
2025-04-24 15:07:28 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36321/37117
2025-04-24 15:07:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8978, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:28 [info] currentZPosition:0.0763
2025-04-24 15:07:29 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:30 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:30 [debug] Diagnostics for board 50:
2025-04-24 15:07:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:35 ago, cause: software
2025-04-24 15:07:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:30 [debug] Moves scheduled 36692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1549330872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:07:30 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22021, writes 0 timeouts 0
2025-04-24 15:07:30 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36088/37117
2025-04-24 15:07:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:30 [info] currentZPosition:0.0751
2025-04-24 15:07:31 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:31 [debug] Diagnostics for board 50:
2025-04-24 15:07:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:36 ago, cause: software
2025-04-24 15:07:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:31 [debug] Moves scheduled 36696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1548305252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:07:31 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17219, writes 0 timeouts 0
2025-04-24 15:07:31 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36321/37119
2025-04-24 15:07:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:32 [info] currentZPosition:0.0749
2025-04-24 15:07:33 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:33 [debug] Diagnostics for board 50:
2025-04-24 15:07:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:38 ago, cause: software
2025-04-24 15:07:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:33 [debug] Moves scheduled 36700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1547249909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:07:33 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17736, writes 0 timeouts 0
2025-04-24 15:07:33 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36092/37142
2025-04-24 15:07:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:33 [info] currentZPosition:0.0750
2025-04-24 15:07:34 [debug] Stopped at height 0.076 mm
2025-04-24 15:07:34 [debug] Diagnostics for board 50:
2025-04-24 15:07:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:39 ago, cause: software
2025-04-24 15:07:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:34 [debug] Moves scheduled 36704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1546232437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:07:34 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17045, writes 0 timeouts 0
2025-04-24 15:07:34 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36350/37100
2025-04-24 15:07:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:34 [info] currentZPosition:0.0755
2025-04-24 15:07:36 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:36 [debug] Diagnostics for board 50:
2025-04-24 15:07:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:41 ago, cause: software
2025-04-24 15:07:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:36 [debug] Moves scheduled 36708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1545174150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:07:36 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17756, writes 0 timeouts 0
2025-04-24 15:07:36 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36008/37167
2025-04-24 15:07:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:36 [info] currentZPosition:0.0753
2025-04-24 15:07:37 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:37 [debug] Diagnostics for board 50:
2025-04-24 15:07:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:42 ago, cause: software
2025-04-24 15:07:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:37 [debug] Moves scheduled 36712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1544148265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:07:37 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17238, writes 0 timeouts 0
2025-04-24 15:07:37 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36338/37110
2025-04-24 15:07:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:37 [info] currentZPosition:0.0752
2025-04-24 15:07:38 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:38 [debug] Diagnostics for board 50:
2025-04-24 15:07:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:43 ago, cause: software
2025-04-24 15:07:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:38 [debug] Moves scheduled 36716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1543086963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:07:38 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17779, writes 0 timeouts 0
2025-04-24 15:07:38 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36087/37112
2025-04-24 15:07:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:39 [info] currentZPosition:0.0749
2025-04-24 15:07:40 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:40 [debug] Diagnostics for board 50:
2025-04-24 15:07:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:45 ago, cause: software
2025-04-24 15:07:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:40 [debug] Moves scheduled 36720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 60, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1542073989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:07:40 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 15:07:40 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 438, adv 36248/37086
2025-04-24 15:07:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:40 [info] currentZPosition:0.0754
2025-04-24 15:07:41 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:41 [debug] Diagnostics for board 50:
2025-04-24 15:07:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:09:46 ago, cause: software
2025-04-24 15:07:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:41 [debug] Moves scheduled 36724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1541018303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:07:41 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17737, writes 0 timeouts 0
2025-04-24 15:07:41 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36031/37130
2025-04-24 15:07:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:41 [info] currentZPosition:0.0754
2025-04-24 15:07:43 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:43 [debug] Diagnostics for board 50:
2025-04-24 15:07:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:47 ago, cause: software
2025-04-24 15:07:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:43 [debug] Moves scheduled 36728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9259, max=15306
Sync err accum 90, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1539988059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:07:43 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17270, writes 0 timeouts 0
2025-04-24 15:07:43 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36307/37146
2025-04-24 15:07:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:43 [info] currentZPosition:0.0750
2025-04-24 15:07:44 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:44 [debug] Diagnostics for board 50:
2025-04-24 15:07:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:09:49 ago, cause: software
2025-04-24 15:07:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:44 [debug] Moves scheduled 36732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 100, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1538937603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:07:44 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17632, writes 0 timeouts 0
2025-04-24 15:07:44 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36056/37114
2025-04-24 15:07:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:44 [info] currentZPosition:0.0753
2025-04-24 15:07:45 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:45 [debug] Diagnostics for board 50:
2025-04-24 15:07:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:09:50 ago, cause: software
2025-04-24 15:07:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:45 [debug] Moves scheduled 36736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 108, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1537908771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:07:45 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17271, writes 0 timeouts 0
2025-04-24 15:07:45 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36215/37115
2025-04-24 15:07:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:45 [info] currentZPosition:0.0749
2025-04-24 15:07:47 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:47 [debug] Diagnostics for board 50:
2025-04-24 15:07:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:52 ago, cause: software
2025-04-24 15:07:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:47 [debug] Moves scheduled 36740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 114, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1536855453 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:07:47 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17646, writes 0 timeouts 0
2025-04-24 15:07:47 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36002/37116
2025-04-24 15:07:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:47 [info] currentZPosition:0.0751
2025-04-24 15:07:48 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:48 [debug] Diagnostics for board 50:
2025-04-24 15:07:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:53 ago, cause: software
2025-04-24 15:07:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:48 [debug] Moves scheduled 36744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 116, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1535825486 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:07:48 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17274, writes 0 timeouts 0
2025-04-24 15:07:48 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36082/37108
2025-04-24 15:07:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:48 [info] currentZPosition:0.0748
2025-04-24 15:07:49 [debug] Stopped at height 0.076 mm
2025-04-24 15:07:49 [debug] Diagnostics for board 50:
2025-04-24 15:07:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:54 ago, cause: software
2025-04-24 15:07:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:49 [debug] Moves scheduled 36748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 116, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1534780645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:07:49 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17562, writes 0 timeouts 0
2025-04-24 15:07:49 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36004/37120
2025-04-24 15:07:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:50 [info] currentZPosition:0.0755
2025-04-24 15:07:51 [debug] Stopped at height 0.076 mm
2025-04-24 15:07:51 [debug] Diagnostics for board 50:
2025-04-24 15:07:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:09:56 ago, cause: software
2025-04-24 15:07:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:51 [debug] Moves scheduled 36752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 116, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1533762174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:07:51 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17066, writes 0 timeouts 0
2025-04-24 15:07:51 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36082/37146
2025-04-24 15:07:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:51 [info] currentZPosition:0.0757
2025-04-24 15:07:52 [debug] Stopped at height 0.077 mm
2025-04-24 15:07:52 [debug] Diagnostics for board 50:
2025-04-24 15:07:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:09:57 ago, cause: software
2025-04-24 15:07:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:52 [debug] Moves scheduled 36756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 111, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1532720433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:07:52 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17471, writes 0 timeouts 0
2025-04-24 15:07:52 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36062/37117
2025-04-24 15:07:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8983, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:52 [info] currentZPosition:0.0766
2025-04-24 15:07:54 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:54 [debug] Diagnostics for board 50:
2025-04-24 15:07:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:09:59 ago, cause: software
2025-04-24 15:07:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:54 [debug] Moves scheduled 36760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 104, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1531659631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:07:54 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17829, writes 0 timeouts 0
2025-04-24 15:07:54 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36086/37122
2025-04-24 15:07:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:54 [info] currentZPosition:0.0746
2025-04-24 15:07:54 [debug] Stopped at height 0.074 mm
2025-04-24 15:07:55 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:55 [debug] Diagnostics for board 50:
2025-04-24 15:07:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:00 ago, cause: software
2025-04-24 15:07:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:55 [debug] Moves scheduled 36766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1530360447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:07:55 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21777, writes 0 timeouts 0
2025-04-24 15:07:55 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36026/37122
2025-04-24 15:07:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:55 [info] currentZPosition:0.0747
2025-04-24 15:07:57 [debug] Stopped at height 0.077 mm
2025-04-24 15:07:57 [debug] Diagnostics for board 50:
2025-04-24 15:07:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:02 ago, cause: software
2025-04-24 15:07:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:57 [debug] Moves scheduled 36770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 228, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 77, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1529386043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:07:57 [debug] Driver 0: pos -3491, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16365, writes 0 timeouts 0
2025-04-24 15:07:57 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36085/37092
2025-04-24 15:07:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8958, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:57 [info] currentZPosition:0.0773
2025-04-24 15:07:57 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:58 [debug] Stopped at height 0.075 mm
2025-04-24 15:07:58 [debug] Diagnostics for board 50:
2025-04-24 15:07:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:07:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:03 ago, cause: software
2025-04-24 15:07:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:07:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:07:58 [debug] Moves scheduled 36776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1528045037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:07:58 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22506, writes 0 timeouts 0
2025-04-24 15:07:58 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36034/37156
2025-04-24 15:07:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:07:59 [info] currentZPosition:0.0746
2025-04-24 15:08:00 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:00 [debug] Diagnostics for board 50:
2025-04-24 15:08:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:05 ago, cause: software
2025-04-24 15:08:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:00 [debug] Moves scheduled 36780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1527046236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:08:00 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16757, writes 0 timeouts 0
2025-04-24 15:08:00 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36068/37136
2025-04-24 15:08:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:00 [info] currentZPosition:0.0758
2025-04-24 15:08:00 [debug] Stopped at height 0.073 mm
2025-04-24 15:08:02 [debug] Stopped at height 0.074 mm
2025-04-24 15:08:02 [debug] Diagnostics for board 50:
2025-04-24 15:08:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:06 ago, cause: software
2025-04-24 15:08:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:02 [debug] Moves scheduled 36786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 85, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1525728979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:08:02 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22101, writes 0 timeouts 0
2025-04-24 15:08:02 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36043/37114
2025-04-24 15:08:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:02 [info] currentZPosition:0.0745
2025-04-24 15:08:03 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:03 [debug] Diagnostics for board 50:
2025-04-24 15:08:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:08 ago, cause: software
2025-04-24 15:08:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:03 [debug] Moves scheduled 36790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1524712449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:08:03 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17066, writes 0 timeouts 0
2025-04-24 15:08:03 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36066/37133
2025-04-24 15:08:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:03 [info] currentZPosition:0.0748
2025-04-24 15:08:04 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:04 [debug] Diagnostics for board 50:
2025-04-24 15:08:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:10:09 ago, cause: software
2025-04-24 15:08:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:04 [debug] Moves scheduled 36794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 94, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1523668199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:08:04 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17514, writes 0 timeouts 0
2025-04-24 15:08:04 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36051/37151
2025-04-24 15:08:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:04 [info] currentZPosition:0.0755
2025-04-24 15:08:06 [debug] Stopped at height 0.074 mm
2025-04-24 15:08:06 [debug] Diagnostics for board 50:
2025-04-24 15:08:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:11 ago, cause: software
2025-04-24 15:08:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:06 [debug] Moves scheduled 36798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1522621731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:08:06 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17555, writes 0 timeouts 0
2025-04-24 15:08:06 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36052/37124
2025-04-24 15:08:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:06 [info] currentZPosition:0.0743
2025-04-24 15:08:06 [debug] Stopped at height 0.072 mm
2025-04-24 15:08:07 [debug] Stopped at height 0.070 mm
2025-04-24 15:08:08 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:08 [debug] Diagnostics for board 50:
2025-04-24 15:08:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:13 ago, cause: software
2025-04-24 15:08:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:08 [debug] Moves scheduled 36806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1521088819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:08:08 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25724, writes 0 timeouts 0
2025-04-24 15:08:08 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36028/37117
2025-04-24 15:08:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:08 [info] currentZPosition:0.0754
2025-04-24 15:08:08 [debug] Stopped at height 0.074 mm
2025-04-24 15:08:09 [debug] Stopped at height 0.074 mm
2025-04-24 15:08:10 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:10 [debug] Diagnostics for board 50:
2025-04-24 15:08:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:15 ago, cause: software
2025-04-24 15:08:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:10 [debug] Moves scheduled 36814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1519612459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:08:10 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24797, writes 0 timeouts 0
2025-04-24 15:08:10 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36059/37131
2025-04-24 15:08:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8979, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:10 [info] currentZPosition:0.0765
2025-04-24 15:08:10 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:11 [debug] Stopped at height 0.074 mm
2025-04-24 15:08:11 [debug] Diagnostics for board 50:
2025-04-24 15:08:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:16 ago, cause: software
2025-04-24 15:08:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:11 [debug] Moves scheduled 36820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1518276027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:08:11 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22474, writes 0 timeouts 0
2025-04-24 15:08:11 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36056/37128
2025-04-24 15:08:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:12 [info] currentZPosition:0.0742
2025-04-24 15:08:13 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:13 [debug] Diagnostics for board 50:
2025-04-24 15:08:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:18 ago, cause: software
2025-04-24 15:08:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:13 [debug] Moves scheduled 36824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1517293061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:08:13 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16414, writes 0 timeouts 0
2025-04-24 15:08:13 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36078/37168
2025-04-24 15:08:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:13 [info] currentZPosition:0.0764
2025-04-24 15:08:13 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:15 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:15 [debug] Diagnostics for board 50:
2025-04-24 15:08:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:19 ago, cause: software
2025-04-24 15:08:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:15 [debug] Moves scheduled 36830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1515986507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:08:15 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21923, writes 0 timeouts 0
2025-04-24 15:08:15 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36051/37097
2025-04-24 15:08:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:15 [info] currentZPosition:0.0755
2025-04-24 15:08:16 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:16 [debug] Diagnostics for board 50:
2025-04-24 15:08:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:21 ago, cause: software
2025-04-24 15:08:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:16 [debug] Moves scheduled 36834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 82, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1514960470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:08:16 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17208, writes 0 timeouts 0
2025-04-24 15:08:16 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36153/37097
2025-04-24 15:08:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:16 [info] currentZPosition:0.0753
2025-04-24 15:08:17 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:17 [debug] Diagnostics for board 50:
2025-04-24 15:08:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:22 ago, cause: software
2025-04-24 15:08:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:17 [debug] Moves scheduled 36838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1513885513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:08:17 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18046, writes 0 timeouts 0
2025-04-24 15:08:17 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36099/37091
2025-04-24 15:08:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:17 [info] currentZPosition:0.0748
2025-04-24 15:08:19 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:19 [debug] Diagnostics for board 50:
2025-04-24 15:08:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:24 ago, cause: software
2025-04-24 15:08:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:19 [debug] Moves scheduled 36842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 88, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1512867322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:08:19 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17078, writes 0 timeouts 0
2025-04-24 15:08:19 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36115/37164
2025-04-24 15:08:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:19 [info] currentZPosition:0.0750
2025-04-24 15:08:20 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:20 [debug] Diagnostics for board 50:
2025-04-24 15:08:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:25 ago, cause: software
2025-04-24 15:08:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:20 [debug] Moves scheduled 36846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1511833974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:08:20 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17340, writes 0 timeouts 0
2025-04-24 15:08:20 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36103/37124
2025-04-24 15:08:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:20 [info] currentZPosition:0.0763
2025-04-24 15:08:21 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:22 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:22 [debug] Diagnostics for board 50:
2025-04-24 15:08:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:27 ago, cause: software
2025-04-24 15:08:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:22 [debug] Moves scheduled 36852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 83, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1510566883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:08:22 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21257, writes 0 timeouts 0
2025-04-24 15:08:22 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36107/37114
2025-04-24 15:08:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:22 [info] currentZPosition:0.0756
2025-04-24 15:08:23 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:23 [debug] Diagnostics for board 50:
2025-04-24 15:08:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:28 ago, cause: software
2025-04-24 15:08:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:23 [debug] Moves scheduled 36856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1509527803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:08:23 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17437, writes 0 timeouts 0
2025-04-24 15:08:23 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36042/37117
2025-04-24 15:08:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:23 [info] currentZPosition:0.0765
2025-04-24 15:08:25 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:25 [debug] Diagnostics for board 50:
2025-04-24 15:08:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:29 ago, cause: software
2025-04-24 15:08:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:25 [debug] Moves scheduled 36860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1508521636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:08:25 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16903, writes 0 timeouts 0
2025-04-24 15:08:25 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36149/37124
2025-04-24 15:08:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:25 [info] currentZPosition:0.0773
2025-04-24 15:08:26 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:26 [debug] Diagnostics for board 50:
2025-04-24 15:08:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:31 ago, cause: software
2025-04-24 15:08:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:26 [debug] Moves scheduled 36864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1507439398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:08:26 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18129, writes 0 timeouts 0
2025-04-24 15:08:26 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36002/37108
2025-04-24 15:08:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:26 [info] currentZPosition:0.0760
2025-04-24 15:08:26 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:28 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:28 [debug] Diagnostics for board 50:
2025-04-24 15:08:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:33 ago, cause: software
2025-04-24 15:08:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:28 [debug] Moves scheduled 36870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1506170485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:08:28 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21300, writes 0 timeouts 0
2025-04-24 15:08:28 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36048/37169
2025-04-24 15:08:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:28 [info] currentZPosition:0.0756
2025-04-24 15:08:29 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:29 [debug] Diagnostics for board 50:
2025-04-24 15:08:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:34 ago, cause: software
2025-04-24 15:08:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:29 [debug] Moves scheduled 36874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1505095763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU te
2025-04-24 15:08:29 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18025, writes 0 timeouts 0
2025-04-24 15:08:29 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36046/37071
2025-04-24 15:08:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:29 [info] currentZPosition:0.0748
2025-04-24 15:08:30 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:30 [debug] Diagnostics for board 50:
2025-04-24 15:08:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:35 ago, cause: software
2025-04-24 15:08:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:30 [debug] Moves scheduled 36878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1504081030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:08:30 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17041, writes 0 timeouts 0
2025-04-24 15:08:30 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36079/37144
2025-04-24 15:08:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:31 [info] currentZPosition:0.0752
2025-04-24 15:08:32 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:32 [debug] Diagnostics for board 50:
2025-04-24 15:08:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:37 ago, cause: software
2025-04-24 15:08:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:32 [debug] Moves scheduled 36882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1503061388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:08:32 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17087, writes 0 timeouts 0
2025-04-24 15:08:32 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36002/37100
2025-04-24 15:08:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:32 [info] currentZPosition:0.0771
2025-04-24 15:08:32 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:33 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:33 [debug] Diagnostics for board 50:
2025-04-24 15:08:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:38 ago, cause: software
2025-04-24 15:08:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:33 [debug] Moves scheduled 36888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1501813667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:08:33 [debug] Driver 0: pos -3495, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20948, writes 0 timeouts 0
2025-04-24 15:08:33 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36140/37145
2025-04-24 15:08:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:34 [info] currentZPosition:0.0774
2025-04-24 15:08:34 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:35 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:35 [debug] Diagnostics for board 50:
2025-04-24 15:08:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:40 ago, cause: software
2025-04-24 15:08:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:35 [debug] Moves scheduled 36894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1500495539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:08:35 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22107, writes 0 timeouts 0
2025-04-24 15:08:35 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 444, adv 35945/37120
2025-04-24 15:08:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:35 [info] currentZPosition:0.0757
2025-04-24 15:08:37 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:37 [debug] Diagnostics for board 50:
2025-04-24 15:08:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:41 ago, cause: software
2025-04-24 15:08:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:37 [debug] Moves scheduled 36898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1499490821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:08:37 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16889, writes 0 timeouts 0
2025-04-24 15:08:37 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36072/37096
2025-04-24 15:08:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:37 [info] currentZPosition:0.0765
2025-04-24 15:08:38 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:38 [debug] Diagnostics for board 50:
2025-04-24 15:08:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:43 ago, cause: software
2025-04-24 15:08:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:38 [debug] Moves scheduled 36902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1498426620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:08:38 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17822, writes 0 timeouts 0
2025-04-24 15:08:38 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36005/37067
2025-04-24 15:08:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:38 [info] currentZPosition:0.0763
2025-04-24 15:08:39 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:39 [debug] Diagnostics for board 50:
2025-04-24 15:08:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:44 ago, cause: software
2025-04-24 15:08:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:39 [debug] Moves scheduled 36906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1497405854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:08:39 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17142, writes 0 timeouts 0
2025-04-24 15:08:39 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36072/37170
2025-04-24 15:08:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:39 [info] currentZPosition:0.0762
2025-04-24 15:08:41 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:41 [debug] Diagnostics for board 50:
2025-04-24 15:08:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:46 ago, cause: software
2025-04-24 15:08:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:41 [debug] Moves scheduled 36910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1496368590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:08:41 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17410, writes 0 timeouts 0
2025-04-24 15:08:41 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35979/37117
2025-04-24 15:08:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:41 [info] currentZPosition:0.0774
2025-04-24 15:08:42 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:42 [debug] Diagnostics for board 50:
2025-04-24 15:08:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:47 ago, cause: software
2025-04-24 15:08:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:42 [debug] Moves scheduled 36914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1495340726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:08:42 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17228, writes 0 timeouts 0
2025-04-24 15:08:42 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36228/37098
2025-04-24 15:08:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:42 [info] currentZPosition:0.0771
2025-04-24 15:08:44 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:44 [debug] Diagnostics for board 50:
2025-04-24 15:08:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:48 ago, cause: software
2025-04-24 15:08:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:44 [debug] Moves scheduled 36918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1494265255 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:08:44 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18043, writes 0 timeouts 0
2025-04-24 15:08:44 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36040/37096
2025-04-24 15:08:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:44 [info] currentZPosition:0.0762
2025-04-24 15:08:45 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:45 [debug] Diagnostics for board 50:
2025-04-24 15:08:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:50 ago, cause: software
2025-04-24 15:08:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:45 [debug] Moves scheduled 36922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1493254353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:08:45 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16997, writes 0 timeouts 0
2025-04-24 15:08:45 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36313/37107
2025-04-24 15:08:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:45 [info] currentZPosition:0.0769
2025-04-24 15:08:46 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:46 [debug] Diagnostics for board 50:
2025-04-24 15:08:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:51 ago, cause: software
2025-04-24 15:08:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:46 [debug] Moves scheduled 36926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1492192485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:08:46 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17796, writes 0 timeouts 0
2025-04-24 15:08:46 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36047/37114
2025-04-24 15:08:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9030, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:46 [info] currentZPosition:0.0767
2025-04-24 15:08:48 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:48 [debug] Diagnostics for board 50:
2025-04-24 15:08:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:53 ago, cause: software
2025-04-24 15:08:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:48 [debug] Moves scheduled 36930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1491166099 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:08:48 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17212, writes 0 timeouts 0
2025-04-24 15:08:48 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36346/37099
2025-04-24 15:08:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:48 [info] currentZPosition:0.0766
2025-04-24 15:08:49 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:49 [debug] Diagnostics for board 50:
2025-04-24 15:08:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:10:54 ago, cause: software
2025-04-24 15:08:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:49 [debug] Moves scheduled 36934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1490107166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:08:49 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17780, writes 0 timeouts 0
2025-04-24 15:08:49 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36038/37110
2025-04-24 15:08:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:49 [info] currentZPosition:0.0764
2025-04-24 15:08:50 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:50 [debug] Diagnostics for board 50:
2025-04-24 15:08:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:55 ago, cause: software
2025-04-24 15:08:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:50 [debug] Moves scheduled 36938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1489073670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:08:50 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17327, writes 0 timeouts 0
2025-04-24 15:08:50 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36320/37114
2025-04-24 15:08:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:51 [info] currentZPosition:0.0758
2025-04-24 15:08:52 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:52 [debug] Diagnostics for board 50:
2025-04-24 15:08:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:57 ago, cause: software
2025-04-24 15:08:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:52 [debug] Moves scheduled 36942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1488004435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:08:52 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17940, writes 0 timeouts 0
2025-04-24 15:08:52 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36054/37138
2025-04-24 15:08:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:52 [info] currentZPosition:0.0752
2025-04-24 15:08:53 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:53 [debug] Diagnostics for board 50:
2025-04-24 15:08:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:10:58 ago, cause: software
2025-04-24 15:08:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:53 [debug] Moves scheduled 36946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1487012126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:08:53 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16688, writes 0 timeouts 0
2025-04-24 15:08:53 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36379/37107
2025-04-24 15:08:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:53 [info] currentZPosition:0.0769
2025-04-24 15:08:54 [debug] Stopped at height 0.075 mm
2025-04-24 15:08:55 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:55 [debug] Diagnostics for board 50:
2025-04-24 15:08:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:00 ago, cause: software
2025-04-24 15:08:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:55 [debug] Moves scheduled 36952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1485718848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:08:55 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21678, writes 0 timeouts 0
2025-04-24 15:08:55 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36011/37100
2025-04-24 15:08:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:55 [info] currentZPosition:0.0769
2025-04-24 15:08:55 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:57 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:57 [debug] Diagnostics for board 50:
2025-04-24 15:08:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:01 ago, cause: software
2025-04-24 15:08:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:57 [debug] Moves scheduled 36958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 84, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1484469450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:08:57 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20964, writes 0 timeouts 0
2025-04-24 15:08:57 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36334/37121
2025-04-24 15:08:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:57 [info] currentZPosition:0.0773
2025-04-24 15:08:57 [debug] Stopped at height 0.076 mm
2025-04-24 15:08:58 [debug] Stopped at height 0.077 mm
2025-04-24 15:08:58 [debug] Diagnostics for board 50:
2025-04-24 15:08:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:08:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:03 ago, cause: software
2025-04-24 15:08:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:08:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:08:58 [debug] Moves scheduled 36964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1483163092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:08:58 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21926, writes 0 timeouts 0
2025-04-24 15:08:58 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36001/37127
2025-04-24 15:08:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:08:58 [info] currentZPosition:0.0765
2025-04-24 15:09:00 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:00 [debug] Diagnostics for board 50:
2025-04-24 15:09:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:05 ago, cause: software
2025-04-24 15:09:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:00 [debug] Moves scheduled 36968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 100, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1482158936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:09:00 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16831, writes 0 timeouts 0
2025-04-24 15:09:00 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36347/37154
2025-04-24 15:09:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9029, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:00 [info] currentZPosition:0.0775
2025-04-24 15:09:01 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:01 [debug] Diagnostics for board 50:
2025-04-24 15:09:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:06 ago, cause: software
2025-04-24 15:09:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:01 [debug] Moves scheduled 36972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1481081510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:09:01 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18087, writes 0 timeouts 0
2025-04-24 15:09:01 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36062/37095
2025-04-24 15:09:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:01 [info] currentZPosition:0.0765
2025-04-24 15:09:02 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:02 [debug] Diagnostics for board 50:
2025-04-24 15:09:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:07 ago, cause: software
2025-04-24 15:09:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:02 [debug] Moves scheduled 36976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1480074137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:09:02 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16912, writes 0 timeouts 0
2025-04-24 15:09:02 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36299/37096
2025-04-24 15:09:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:03 [info] currentZPosition:0.0773
2025-04-24 15:09:04 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:04 [debug] Diagnostics for board 50:
2025-04-24 15:09:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:09 ago, cause: software
2025-04-24 15:09:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:04 [debug] Moves scheduled 36980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 96, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1479014093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:09:04 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17769, writes 0 timeouts 0
2025-04-24 15:09:04 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36015/37160
2025-04-24 15:09:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:04 [info] currentZPosition:0.0770
2025-04-24 15:09:05 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:05 [debug] Diagnostics for board 50:
2025-04-24 15:09:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:10 ago, cause: software
2025-04-24 15:09:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:05 [debug] Moves scheduled 36984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1477980439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:09:05 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17341, writes 0 timeouts 0
2025-04-24 15:09:05 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36325/37124
2025-04-24 15:09:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:05 [info] currentZPosition:0.0764
2025-04-24 15:09:07 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:07 [debug] Diagnostics for board 50:
2025-04-24 15:09:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:11:12 ago, cause: software
2025-04-24 15:09:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:07 [debug] Moves scheduled 36988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1476934223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:09:07 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17547, writes 0 timeouts 0
2025-04-24 15:09:07 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36030/37145
2025-04-24 15:09:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:07 [info] currentZPosition:0.0768
2025-04-24 15:09:08 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:08 [debug] Diagnostics for board 50:
2025-04-24 15:09:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:11:13 ago, cause: software
2025-04-24 15:09:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:08 [debug] Moves scheduled 36992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1475903641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:09:08 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17295, writes 0 timeouts 0
2025-04-24 15:09:08 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36309/37119
2025-04-24 15:09:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:08 [info] currentZPosition:0.0763
2025-04-24 15:09:09 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:09 [debug] Diagnostics for board 50:
2025-04-24 15:09:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:14 ago, cause: software
2025-04-24 15:09:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:09 [debug] Moves scheduled 36996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1474867606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:09:09 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17394, writes 0 timeouts 0
2025-04-24 15:09:09 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36058/37131
2025-04-24 15:09:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:09 [info] currentZPosition:0.0775
2025-04-24 15:09:11 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:11 [debug] Diagnostics for board 50:
2025-04-24 15:09:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:16 ago, cause: software
2025-04-24 15:09:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:11 [debug] Moves scheduled 37000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15306
Sync err accum 73, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1473815480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:09:11 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17629, writes 0 timeouts 0
2025-04-24 15:09:11 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36392/37140
2025-04-24 15:09:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:11 [info] currentZPosition:0.0761
2025-04-24 15:09:11 [debug] Stopped at height 0.075 mm
2025-04-24 15:09:13 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:13 [debug] Diagnostics for board 50:
2025-04-24 15:09:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:17 ago, cause: software
2025-04-24 15:09:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:13 [debug] Moves scheduled 37006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1472514987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:09:13 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21844, writes 0 timeouts 0
2025-04-24 15:09:13 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36017/37157
2025-04-24 15:09:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:13 [info] currentZPosition:0.0759
2025-04-24 15:09:14 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:14 [debug] Diagnostics for board 50:
2025-04-24 15:09:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:19 ago, cause: software
2025-04-24 15:09:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:14 [debug] Moves scheduled 37010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10135, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1471521929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:09:14 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16658, writes 0 timeouts 0
2025-04-24 15:09:14 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36311/37100
2025-04-24 15:09:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:14 [info] currentZPosition:0.0776
2025-04-24 15:09:14 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:16 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:16 [debug] Diagnostics for board 50:
2025-04-24 15:09:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:20 ago, cause: software
2025-04-24 15:09:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:16 [debug] Moves scheduled 37016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1470210687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:09:16 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22012, writes 0 timeouts 0
2025-04-24 15:09:16 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36035/37098
2025-04-24 15:09:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:16 [info] currentZPosition:0.0765
2025-04-24 15:09:17 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:17 [debug] Diagnostics for board 50:
2025-04-24 15:09:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:22 ago, cause: software
2025-04-24 15:09:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:17 [debug] Moves scheduled 37020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1469209403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:09:17 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16787, writes 0 timeouts 0
2025-04-24 15:09:17 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36376/37131
2025-04-24 15:09:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9011, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:17 [info] currentZPosition:0.0777
2025-04-24 15:09:18 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:18 [debug] Diagnostics for board 50:
2025-04-24 15:09:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:23 ago, cause: software
2025-04-24 15:09:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:18 [debug] Moves scheduled 37024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1468139420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:09:18 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17950, writes 0 timeouts 0
2025-04-24 15:09:18 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36045/37164
2025-04-24 15:09:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:18 [info] currentZPosition:0.0771
2025-04-24 15:09:20 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:20 [debug] Diagnostics for board 50:
2025-04-24 15:09:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:25 ago, cause: software
2025-04-24 15:09:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:20 [debug] Moves scheduled 37028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1467115180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:09:20 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17266, writes 0 timeouts 0
2025-04-24 15:09:20 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36313/37161
2025-04-24 15:09:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:20 [info] currentZPosition:0.0771
2025-04-24 15:09:22 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:22 [debug] Diagnostics for board 50:
2025-04-24 15:09:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:11:27 ago, cause: software
2025-04-24 15:09:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:22 [debug] Moves scheduled 37032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 74, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1465197000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:09:22 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 33562, writes 0 timeouts 0
2025-04-24 15:09:22 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36001/37126
2025-04-24 15:09:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:23 [info] currentZPosition:0.0767
2025-04-24 15:09:24 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:24 [debug] Diagnostics for board 50:
2025-04-24 15:09:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:11:29 ago, cause: software
2025-04-24 15:09:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:24 [debug] Moves scheduled 37036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1463982182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:09:24 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18971, writes 0 timeouts 0
2025-04-24 15:09:24 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36348/37164
2025-04-24 15:09:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:24 [info] currentZPosition:0.0766
2025-04-24 15:09:25 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:25 [debug] Diagnostics for board 50:
2025-04-24 15:09:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:30 ago, cause: software
2025-04-24 15:09:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:25 [debug] Moves scheduled 37040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1462937461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:09:25 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17526, writes 0 timeouts 0
2025-04-24 15:09:25 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36058/37108
2025-04-24 15:09:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:25 [info] currentZPosition:0.0773
2025-04-24 15:09:27 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:27 [debug] Diagnostics for board 50:
2025-04-24 15:09:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:32 ago, cause: software
2025-04-24 15:09:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:27 [debug] Moves scheduled 37044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1461902415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:09:27 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17356, writes 0 timeouts 0
2025-04-24 15:09:27 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36336/37103
2025-04-24 15:09:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:27 [info] currentZPosition:0.0766
2025-04-24 15:09:28 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:28 [debug] Diagnostics for board 50:
2025-04-24 15:09:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:33 ago, cause: software
2025-04-24 15:09:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:28 [debug] Moves scheduled 37048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1460834784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:09:28 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17920, writes 0 timeouts 0
2025-04-24 15:09:28 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36025/37141
2025-04-24 15:09:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:28 [info] currentZPosition:0.0760
2025-04-24 15:09:29 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:29 [debug] Diagnostics for board 50:
2025-04-24 15:09:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:34 ago, cause: software
2025-04-24 15:09:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:29 [debug] Moves scheduled 37052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1459823260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:09:29 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 15:09:29 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36336/37115
2025-04-24 15:09:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:30 [info] currentZPosition:0.0768
2025-04-24 15:09:31 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:31 [debug] Diagnostics for board 50:
2025-04-24 15:09:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:36 ago, cause: software
2025-04-24 15:09:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:31 [debug] Moves scheduled 37056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1458769067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:09:31 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17674, writes 0 timeouts 0
2025-04-24 15:09:31 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36002/37152
2025-04-24 15:09:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:31 [info] currentZPosition:0.0771
2025-04-24 15:09:32 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:32 [debug] Diagnostics for board 50:
2025-04-24 15:09:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:37 ago, cause: software
2025-04-24 15:09:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:32 [debug] Moves scheduled 37060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 88, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1457738491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:09:32 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17287, writes 0 timeouts 0
2025-04-24 15:09:32 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36329/37145
2025-04-24 15:09:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:32 [info] currentZPosition:0.0769
2025-04-24 15:09:34 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:34 [debug] Diagnostics for board 50:
2025-04-24 15:09:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:39 ago, cause: software
2025-04-24 15:09:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:34 [debug] Moves scheduled 37064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 81, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1456676458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:09:34 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17806, writes 0 timeouts 0
2025-04-24 15:09:34 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36051/37143
2025-04-24 15:09:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:34 [info] currentZPosition:0.0767
2025-04-24 15:09:35 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:35 [debug] Diagnostics for board 50:
2025-04-24 15:09:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:40 ago, cause: software
2025-04-24 15:09:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:35 [debug] Moves scheduled 37068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1455656495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:09:35 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17114, writes 0 timeouts 0
2025-04-24 15:09:35 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36303/37149
2025-04-24 15:09:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:35 [info] currentZPosition:0.0770
2025-04-24 15:09:36 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:36 [debug] Diagnostics for board 50:
2025-04-24 15:09:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:41 ago, cause: software
2025-04-24 15:09:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:36 [debug] Moves scheduled 37072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1454594785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:09:36 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17812, writes 0 timeouts 0
2025-04-24 15:09:36 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36005/37155
2025-04-24 15:09:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:37 [info] currentZPosition:0.0767
2025-04-24 15:09:38 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:38 [debug] Diagnostics for board 50:
2025-04-24 15:09:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:43 ago, cause: software
2025-04-24 15:09:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:38 [debug] Moves scheduled 37076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1453582602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:09:38 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16990, writes 0 timeouts 0
2025-04-24 15:09:38 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36277/37098
2025-04-24 15:09:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:38 [info] currentZPosition:0.0772
2025-04-24 15:09:39 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:39 [debug] Diagnostics for board 50:
2025-04-24 15:09:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:44 ago, cause: software
2025-04-24 15:09:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:39 [debug] Moves scheduled 37080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1452525134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:09:39 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17745, writes 0 timeouts 0
2025-04-24 15:09:39 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36039/37164
2025-04-24 15:09:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:39 [info] currentZPosition:0.0772
2025-04-24 15:09:41 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:41 [debug] Diagnostics for board 50:
2025-04-24 15:09:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:45 ago, cause: software
2025-04-24 15:09:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:41 [debug] Moves scheduled 37084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1451487335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:09:41 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17407, writes 0 timeouts 0
2025-04-24 15:09:41 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36123/37102
2025-04-24 15:09:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:41 [info] currentZPosition:0.0766
2025-04-24 15:09:42 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:42 [debug] Diagnostics for board 50:
2025-04-24 15:09:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:47 ago, cause: software
2025-04-24 15:09:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:42 [debug] Moves scheduled 37088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 107, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1450462130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:09:42 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17211, writes 0 timeouts 0
2025-04-24 15:09:42 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36100/37157
2025-04-24 15:09:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8985, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:42 [info] currentZPosition:0.0783
2025-04-24 15:09:42 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:44 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:44 [debug] Diagnostics for board 50:
2025-04-24 15:09:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:49 ago, cause: software
2025-04-24 15:09:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:44 [debug] Moves scheduled 37094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 115, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1449187045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:09:44 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21395, writes 0 timeouts 0
2025-04-24 15:09:44 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36078/37146
2025-04-24 15:09:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:44 [info] currentZPosition:0.0771
2025-04-24 15:09:45 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:45 [debug] Diagnostics for board 50:
2025-04-24 15:09:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:50 ago, cause: software
2025-04-24 15:09:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:45 [debug] Moves scheduled 37098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 118, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1448145587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:09:45 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17484, writes 0 timeouts 0
2025-04-24 15:09:45 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36005/37167
2025-04-24 15:09:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8998, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:45 [info] currentZPosition:0.0780
2025-04-24 15:09:46 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:46 [debug] Diagnostics for board 50:
2025-04-24 15:09:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:51 ago, cause: software
2025-04-24 15:09:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:46 [debug] Moves scheduled 37102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15306
Sync err accum 116, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1447113424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:09:46 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17303, writes 0 timeouts 0
2025-04-24 15:09:46 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36113/37107
2025-04-24 15:09:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:46 [info] currentZPosition:0.0775
2025-04-24 15:09:48 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:48 [debug] Diagnostics for board 50:
2025-04-24 15:09:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:11:53 ago, cause: software
2025-04-24 15:09:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:48 [debug] Moves scheduled 37106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1446059523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:09:48 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17692, writes 0 timeouts 0
2025-04-24 15:09:48 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36046/37155
2025-04-24 15:09:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:48 [info] currentZPosition:0.0778
2025-04-24 15:09:49 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:49 [debug] Diagnostics for board 50:
2025-04-24 15:09:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:54 ago, cause: software
2025-04-24 15:09:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:49 [debug] Moves scheduled 37110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1445014592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:09:49 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17525, writes 0 timeouts 0
2025-04-24 15:09:49 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36099/37172
2025-04-24 15:09:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:49 [info] currentZPosition:0.0766
2025-04-24 15:09:51 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:51 [debug] Diagnostics for board 50:
2025-04-24 15:09:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:55 ago, cause: software
2025-04-24 15:09:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:51 [debug] Moves scheduled 37114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1443988394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:09:51 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17213, writes 0 timeouts 0
2025-04-24 15:09:51 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36028/37101
2025-04-24 15:09:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:51 [info] currentZPosition:0.0783
2025-04-24 15:09:51 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:52 [debug] Stopped at height 0.076 mm
2025-04-24 15:09:52 [debug] Diagnostics for board 50:
2025-04-24 15:09:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:11:57 ago, cause: software
2025-04-24 15:09:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:52 [debug] Moves scheduled 37120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1442695373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:09:52 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21731, writes 0 timeouts 0
2025-04-24 15:09:52 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36043/37140
2025-04-24 15:09:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:52 [info] currentZPosition:0.0763
2025-04-24 15:09:54 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:54 [debug] Diagnostics for board 50:
2025-04-24 15:09:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:11:59 ago, cause: software
2025-04-24 15:09:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:54 [debug] Moves scheduled 37124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 71, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1441659484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:09:54 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17348, writes 0 timeouts 0
2025-04-24 15:09:54 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36036/37133
2025-04-24 15:09:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:54 [info] currentZPosition:0.0776
2025-04-24 15:09:54 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:55 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:55 [debug] Diagnostics for board 50:
2025-04-24 15:09:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:00 ago, cause: software
2025-04-24 15:09:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:55 [debug] Moves scheduled 37130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -4/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1440402560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:09:55 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21102, writes 0 timeouts 0
2025-04-24 15:09:55 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36129/37117
2025-04-24 15:09:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:55 [info] currentZPosition:0.0776
2025-04-24 15:09:57 [debug] Stopped at height 0.077 mm
2025-04-24 15:09:57 [debug] Diagnostics for board 50:
2025-04-24 15:09:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:02 ago, cause: software
2025-04-24 15:09:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:57 [debug] Moves scheduled 37134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 73, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1439332956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:09:57 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17953, writes 0 timeouts 0
2025-04-24 15:09:57 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35994/37117
2025-04-24 15:09:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:57 [info] currentZPosition:0.0769
2025-04-24 15:09:58 [debug] Stopped at height 0.078 mm
2025-04-24 15:09:58 [debug] Diagnostics for board 50:
2025-04-24 15:09:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:09:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:03 ago, cause: software
2025-04-24 15:09:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:09:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:09:58 [debug] Moves scheduled 37138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1438332332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:09:58 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16767, writes 0 timeouts 0
2025-04-24 15:09:58 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36100/37114
2025-04-24 15:09:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:09:58 [info] currentZPosition:0.0780
2025-04-24 15:10:00 [debug] Stopped at height 0.076 mm
2025-04-24 15:10:00 [debug] Diagnostics for board 50:
2025-04-24 15:10:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:04 ago, cause: software
2025-04-24 15:10:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:00 [debug] Moves scheduled 37142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1437244607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:00 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18255, writes 0 timeouts 0
2025-04-24 15:10:00 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36085/37125
2025-04-24 15:10:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:00 [info] currentZPosition:0.0764
2025-04-24 15:10:00 [debug] Stopped at height 0.075 mm
2025-04-24 15:10:01 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:01 [debug] Diagnostics for board 50:
2025-04-24 15:10:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:12:06 ago, cause: software
2025-04-24 15:10:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:01 [debug] Moves scheduled 37148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1435990668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:10:01 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21054, writes 0 timeouts 0
2025-04-24 15:10:01 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36135/37140
2025-04-24 15:10:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:01 [info] currentZPosition:0.0768
2025-04-24 15:10:03 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:03 [debug] Diagnostics for board 50:
2025-04-24 15:10:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:07 ago, cause: software
2025-04-24 15:10:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:03 [debug] Moves scheduled 37152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1434953257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:10:03 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17390, writes 0 timeouts 0
2025-04-24 15:10:03 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36049/37132
2025-04-24 15:10:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:03 [info] currentZPosition:0.0779
2025-04-24 15:10:04 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:04 [debug] Diagnostics for board 50:
2025-04-24 15:10:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:09 ago, cause: software
2025-04-24 15:10:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:04 [debug] Moves scheduled 37156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1433911027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:04 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17489, writes 0 timeouts 0
2025-04-24 15:10:04 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36099/37174
2025-04-24 15:10:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:04 [info] currentZPosition:0.0770
2025-04-24 15:10:05 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:05 [debug] Diagnostics for board 50:
2025-04-24 15:10:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:10 ago, cause: software
2025-04-24 15:10:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:05 [debug] Moves scheduled 37160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1432861389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:05 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17634, writes 0 timeouts 0
2025-04-24 15:10:05 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36036/37110
2025-04-24 15:10:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:05 [info] currentZPosition:0.0772
2025-04-24 15:10:07 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:07 [debug] Diagnostics for board 50:
2025-04-24 15:10:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:12:12 ago, cause: software
2025-04-24 15:10:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:07 [debug] Moves scheduled 37164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 66, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1431845042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:10:07 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17032, writes 0 timeouts 0
2025-04-24 15:10:07 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36069/37118
2025-04-24 15:10:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:07 [info] currentZPosition:0.0777
2025-04-24 15:10:08 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:08 [debug] Diagnostics for board 50:
2025-04-24 15:10:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:12:13 ago, cause: software
2025-04-24 15:10:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:08 [debug] Moves scheduled 37168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1430782406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:08 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17835, writes 0 timeouts 0
2025-04-24 15:10:08 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36049/37157
2025-04-24 15:10:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:08 [info] currentZPosition:0.0774
2025-04-24 15:10:10 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:10 [debug] Diagnostics for board 50:
2025-04-24 15:10:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:14 ago, cause: software
2025-04-24 15:10:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:10 [debug] Moves scheduled 37172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1429756574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:10:10 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17229, writes 0 timeouts 0
2025-04-24 15:10:10 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36102/37124
2025-04-24 15:10:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:10 [info] currentZPosition:0.0770
2025-04-24 15:10:11 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:11 [debug] Diagnostics for board 50:
2025-04-24 15:10:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:16 ago, cause: software
2025-04-24 15:10:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:11 [debug] Moves scheduled 37176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1428718992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:11 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17390, writes 0 timeouts 0
2025-04-24 15:10:11 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36022/37153
2025-04-24 15:10:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:11 [info] currentZPosition:0.0781
2025-04-24 15:10:12 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:12 [debug] Diagnostics for board 50:
2025-04-24 15:10:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:17 ago, cause: software
2025-04-24 15:10:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:12 [debug] Moves scheduled 37180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1427649136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:12 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17942, writes 0 timeouts 0
2025-04-24 15:10:12 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36124/37123
2025-04-24 15:10:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:12 [info] currentZPosition:0.0780
2025-04-24 15:10:14 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:14 [debug] Diagnostics for board 50:
2025-04-24 15:10:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:19 ago, cause: software
2025-04-24 15:10:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:14 [debug] Moves scheduled 37184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1426589202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:10:14 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17819, writes 0 timeouts 0
2025-04-24 15:10:14 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36021/37125
2025-04-24 15:10:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:14 [info] currentZPosition:0.0777
2025-04-24 15:10:15 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:15 [debug] Diagnostics for board 50:
2025-04-24 15:10:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:12:20 ago, cause: software
2025-04-24 15:10:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:15 [debug] Moves scheduled 37188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1425562657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:10:15 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17188, writes 0 timeouts 0
2025-04-24 15:10:15 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36067/37105
2025-04-24 15:10:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:15 [info] currentZPosition:0.0775
2025-04-24 15:10:17 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:17 [debug] Diagnostics for board 50:
2025-04-24 15:10:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:21 ago, cause: software
2025-04-24 15:10:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:17 [debug] Moves scheduled 37192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 71, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1424520542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:17 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17494, writes 0 timeouts 0
2025-04-24 15:10:17 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36038/37087
2025-04-24 15:10:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:17 [info] currentZPosition:0.0783
2025-04-24 15:10:18 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:18 [debug] Diagnostics for board 50:
2025-04-24 15:10:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:23 ago, cause: software
2025-04-24 15:10:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:18 [debug] Moves scheduled 37196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1423484059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:10:18 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17379, writes 0 timeouts 0
2025-04-24 15:10:18 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 344, adv 36128/37124
2025-04-24 15:10:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:18 [info] currentZPosition:0.0776
2025-04-24 15:10:19 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:19 [debug] Diagnostics for board 50:
2025-04-24 15:10:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:24 ago, cause: software
2025-04-24 15:10:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:19 [debug] Moves scheduled 37200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1422434912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:19 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17604, writes 0 timeouts 0
2025-04-24 15:10:19 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36054/37163
2025-04-24 15:10:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:19 [info] currentZPosition:0.0781
2025-04-24 15:10:21 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:21 [debug] Diagnostics for board 50:
2025-04-24 15:10:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:26 ago, cause: software
2025-04-24 15:10:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:21 [debug] Moves scheduled 37204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1421384824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:21 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17629, writes 0 timeouts 0
2025-04-24 15:10:21 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36066/37096
2025-04-24 15:10:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:21 [info] currentZPosition:0.0767
2025-04-24 15:10:21 [debug] Stopped at height 0.076 mm
2025-04-24 15:10:22 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:22 [debug] Diagnostics for board 50:
2025-04-24 15:10:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:27 ago, cause: software
2025-04-24 15:10:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:22 [debug] Moves scheduled 37210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=46, frequency (Hz): min=9740, max=15306
Sync err accum 65, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1420079069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:10:22 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21906, writes 0 timeouts 0
2025-04-24 15:10:22 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36039/37162
2025-04-24 15:10:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:23 [info] currentZPosition:0.0766
2025-04-24 15:10:24 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:24 [debug] Diagnostics for board 50:
2025-04-24 15:10:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:29 ago, cause: software
2025-04-24 15:10:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:24 [debug] Moves scheduled 37214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1419077464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:24 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16811, writes 0 timeouts 0
2025-04-24 15:10:24 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36089/37172
2025-04-24 15:10:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:24 [info] currentZPosition:0.0777
2025-04-24 15:10:25 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:25 [debug] Diagnostics for board 50:
2025-04-24 15:10:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:30 ago, cause: software
2025-04-24 15:10:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:25 [debug] Moves scheduled 37218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 69, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1418023573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:25 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17670, writes 0 timeouts 0
2025-04-24 15:10:25 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36059/37125
2025-04-24 15:10:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:25 [info] currentZPosition:0.0779
2025-04-24 15:10:27 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:27 [debug] Diagnostics for board 50:
2025-04-24 15:10:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:31 ago, cause: software
2025-04-24 15:10:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:27 [debug] Moves scheduled 37222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1417010945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:27 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16999, writes 0 timeouts 0
2025-04-24 15:10:27 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36159/37117
2025-04-24 15:10:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:27 [info] currentZPosition:0.0784
2025-04-24 15:10:28 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:28 [debug] Diagnostics for board 50:
2025-04-24 15:10:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:33 ago, cause: software
2025-04-24 15:10:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:28 [debug] Moves scheduled 37226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8928, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1415963131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:28 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17575, writes 0 timeouts 0
2025-04-24 15:10:28 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35982/37119
2025-04-24 15:10:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:28 [info] currentZPosition:0.0788
2025-04-24 15:10:29 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:29 [debug] Diagnostics for board 50:
2025-04-24 15:10:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:34 ago, cause: software
2025-04-24 15:10:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:29 [debug] Moves scheduled 37230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1414936277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:29 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17238, writes 0 timeouts 0
2025-04-24 15:10:29 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36063/37115
2025-04-24 15:10:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8999, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:29 [info] currentZPosition:0.0790
2025-04-24 15:10:31 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:31 [debug] Diagnostics for board 50:
2025-04-24 15:10:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:36 ago, cause: software
2025-04-24 15:10:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:31 [debug] Moves scheduled 37234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1413832342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:10:31 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18519, writes 0 timeouts 0
2025-04-24 15:10:31 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 343, adv 36049/37158
2025-04-24 15:10:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:31 [info] currentZPosition:0.0765
2025-04-24 15:10:31 [debug] Stopped at height 0.075 mm
2025-04-24 15:10:32 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:32 [debug] Diagnostics for board 50:
2025-04-24 15:10:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:37 ago, cause: software
2025-04-24 15:10:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:32 [debug] Moves scheduled 37240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 70, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1412604561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:10:32 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20605, writes 0 timeouts 0
2025-04-24 15:10:32 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36192/37125
2025-04-24 15:10:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:32 [info] currentZPosition:0.0786
2025-04-24 15:10:33 [debug] Stopped at height 0.077 mm
2025-04-24 15:10:34 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:34 [debug] Diagnostics for board 50:
2025-04-24 15:10:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:39 ago, cause: software
2025-04-24 15:10:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:34 [debug] Moves scheduled 37246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1411288298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:34 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22102, writes 0 timeouts 0
2025-04-24 15:10:34 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36003/37141
2025-04-24 15:10:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:34 [info] currentZPosition:0.0779
2025-04-24 15:10:35 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:35 [debug] Diagnostics for board 50:
2025-04-24 15:10:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:12:40 ago, cause: software
2025-04-24 15:10:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:35 [debug] Moves scheduled 37250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1410285281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:35 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16831, writes 0 timeouts 0
2025-04-24 15:10:35 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36368/37104
2025-04-24 15:10:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 823
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9003, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:36 [info] currentZPosition:0.0790
2025-04-24 15:10:37 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:37 [debug] Diagnostics for board 50:
2025-04-24 15:10:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:42 ago, cause: software
2025-04-24 15:10:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:37 [debug] Moves scheduled 37254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1409214445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:37 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17969, writes 0 timeouts 0
2025-04-24 15:10:37 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36034/37125
2025-04-24 15:10:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:37 [info] currentZPosition:0.0784
2025-04-24 15:10:38 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:38 [debug] Diagnostics for board 50:
2025-04-24 15:10:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:43 ago, cause: software
2025-04-24 15:10:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:38 [debug] Moves scheduled 37258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1408176739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:10:38 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17400, writes 0 timeouts 0
2025-04-24 15:10:38 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36298/37147
2025-04-24 15:10:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:38 [info] currentZPosition:0.0777
2025-04-24 15:10:40 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:40 [debug] Diagnostics for board 50:
2025-04-24 15:10:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:45 ago, cause: software
2025-04-24 15:10:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:40 [debug] Moves scheduled 37262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1407118506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:10:40 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17759, writes 0 timeouts 0
2025-04-24 15:10:40 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36057/37091
2025-04-24 15:10:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:40 [info] currentZPosition:0.0775
2025-04-24 15:10:41 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:41 [debug] Diagnostics for board 50:
2025-04-24 15:10:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:46 ago, cause: software
2025-04-24 15:10:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:41 [debug] Moves scheduled 37266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 1406109466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:10:41 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16933, writes 0 timeouts 0
2025-04-24 15:10:41 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36390/37119
2025-04-24 15:10:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:41 [info] currentZPosition:0.0782
2025-04-24 15:10:42 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:42 [debug] Diagnostics for board 50:
2025-04-24 15:10:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:47 ago, cause: software
2025-04-24 15:10:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:42 [debug] Moves scheduled 37270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15306
Sync err accum 64, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1405052435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:42 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17737, writes 0 timeouts 0
2025-04-24 15:10:42 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36053/37118
2025-04-24 15:10:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:43 [info] currentZPosition:0.0782
2025-04-24 15:10:44 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:44 [debug] Diagnostics for board 50:
2025-04-24 15:10:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:12:49 ago, cause: software
2025-04-24 15:10:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:44 [debug] Moves scheduled 37274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1404044828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:10:44 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16908, writes 0 timeouts 0
2025-04-24 15:10:44 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36300/37131
2025-04-24 15:10:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:44 [info] currentZPosition:0.0791
2025-04-24 15:10:45 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:45 [debug] Diagnostics for board 50:
2025-04-24 15:10:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:50 ago, cause: software
2025-04-24 15:10:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:45 [debug] Moves scheduled 37278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1402962658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:10:45 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18145, writes 0 timeouts 0
2025-04-24 15:10:45 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36042/37102
2025-04-24 15:10:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:45 [info] currentZPosition:0.0779
2025-04-24 15:10:47 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:47 [debug] Diagnostics for board 50:
2025-04-24 15:10:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:52 ago, cause: software
2025-04-24 15:10:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:47 [debug] Moves scheduled 37282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1401942394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:10:47 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17120, writes 0 timeouts 0
2025-04-24 15:10:47 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36396/37159
2025-04-24 15:10:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:47 [info] currentZPosition:0.0781
2025-04-24 15:10:48 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:48 [debug] Diagnostics for board 50:
2025-04-24 15:10:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:12:53 ago, cause: software
2025-04-24 15:10:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:48 [debug] Moves scheduled 37286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1400900840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:48 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17490, writes 0 timeouts 0
2025-04-24 15:10:48 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36049/37106
2025-04-24 15:10:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:48 [info] currentZPosition:0.0791
2025-04-24 15:10:49 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:49 [debug] Diagnostics for board 50:
2025-04-24 15:10:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:12:54 ago, cause: software
2025-04-24 15:10:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:49 [debug] Moves scheduled 37290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1399856128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:49 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17535, writes 0 timeouts 0
2025-04-24 15:10:49 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36289/37149
2025-04-24 15:10:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:49 [info] currentZPosition:0.0780
2025-04-24 15:10:51 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:51 [debug] Diagnostics for board 50:
2025-04-24 15:10:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:12:56 ago, cause: software
2025-04-24 15:10:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:51 [debug] Moves scheduled 37294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1398818101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:10:51 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17413, writes 0 timeouts 0
2025-04-24 15:10:51 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36001/37131
2025-04-24 15:10:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:51 [info] currentZPosition:0.0791
2025-04-24 15:10:52 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:52 [debug] Diagnostics for board 50:
2025-04-24 15:10:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:12:57 ago, cause: software
2025-04-24 15:10:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:52 [debug] Moves scheduled 37298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1397781031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:10:52 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17414, writes 0 timeouts 0
2025-04-24 15:10:52 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36335/37115
2025-04-24 15:10:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:52 [info] currentZPosition:0.0783
2025-04-24 15:10:54 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:54 [debug] Diagnostics for board 50:
2025-04-24 15:10:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:12:58 ago, cause: software
2025-04-24 15:10:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:54 [debug] Moves scheduled 37302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1396733094 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:10:54 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17567, writes 0 timeouts 0
2025-04-24 15:10:54 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35991/37163
2025-04-24 15:10:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9020, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:54 [info] currentZPosition:0.0791
2025-04-24 15:10:55 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:55 [debug] Diagnostics for board 50:
2025-04-24 15:10:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:00 ago, cause: software
2025-04-24 15:10:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:55 [debug] Moves scheduled 37306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1395701855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:10:55 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17310, writes 0 timeouts 0
2025-04-24 15:10:55 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 36343/37114
2025-04-24 15:10:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:55 [info] currentZPosition:0.0787
2025-04-24 15:10:56 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:56 [debug] Diagnostics for board 50:
2025-04-24 15:10:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:01 ago, cause: software
2025-04-24 15:10:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:56 [debug] Moves scheduled 37310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1394637858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:10:56 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17836, writes 0 timeouts 0
2025-04-24 15:10:56 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36048/37134
2025-04-24 15:10:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9039, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:56 [info] currentZPosition:0.0784
2025-04-24 15:10:58 [debug] Stopped at height 0.078 mm
2025-04-24 15:10:58 [debug] Diagnostics for board 50:
2025-04-24 15:10:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:03 ago, cause: software
2025-04-24 15:10:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:58 [debug] Moves scheduled 37314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1393602510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:10:58 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17375, writes 0 timeouts 0
2025-04-24 15:10:58 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36381/37073
2025-04-24 15:10:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:58 [info] currentZPosition:0.0777
2025-04-24 15:10:59 [debug] Stopped at height 0.079 mm
2025-04-24 15:10:59 [debug] Diagnostics for board 50:
2025-04-24 15:10:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:10:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:04 ago, cause: software
2025-04-24 15:10:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:10:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:10:59 [debug] Moves scheduled 37318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1392556963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:10:59 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17539, writes 0 timeouts 0
2025-04-24 15:10:59 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36047/37143
2025-04-24 15:10:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:10:59 [info] currentZPosition:0.0785
2025-04-24 15:11:00 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:00 [debug] Diagnostics for board 50:
2025-04-24 15:11:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:05 ago, cause: software
2025-04-24 15:11:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:00 [debug] Moves scheduled 37322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1391534465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:11:00 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17153, writes 0 timeouts 0
2025-04-24 15:11:00 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36307/37126
2025-04-24 15:11:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9063, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:01 [info] currentZPosition:0.0787
2025-04-24 15:11:02 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:02 [debug] Diagnostics for board 50:
2025-04-24 15:11:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:07 ago, cause: software
2025-04-24 15:11:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:02 [debug] Moves scheduled 37326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1390482609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:11:02 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17647, writes 0 timeouts 0
2025-04-24 15:11:02 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36055/37149
2025-04-24 15:11:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:02 [info] currentZPosition:0.0789
2025-04-24 15:11:03 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:03 [debug] Diagnostics for board 50:
2025-04-24 15:11:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:08 ago, cause: software
2025-04-24 15:11:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:03 [debug] Moves scheduled 37330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1389462190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:11:03 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17122, writes 0 timeouts 0
2025-04-24 15:11:03 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36376/37118
2025-04-24 15:11:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:03 [info] currentZPosition:0.0791
2025-04-24 15:11:05 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:05 [debug] Diagnostics for board 50:
2025-04-24 15:11:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:10 ago, cause: software
2025-04-24 15:11:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:05 [debug] Moves scheduled 37334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 70, peak jitter -1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1388408069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:11:05 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17694, writes 0 timeouts 0
2025-04-24 15:11:05 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 411, adv 36008/37078
2025-04-24 15:11:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:05 [info] currentZPosition:0.0792
2025-04-24 15:11:06 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:06 [debug] Diagnostics for board 50:
2025-04-24 15:11:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:11 ago, cause: software
2025-04-24 15:11:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:06 [debug] Moves scheduled 37338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1387362251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:11:06 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17538, writes 0 timeouts 0
2025-04-24 15:11:06 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36285/37106
2025-04-24 15:11:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:06 [info] currentZPosition:0.0779
2025-04-24 15:11:07 [debug] Stopped at height 0.077 mm
2025-04-24 15:11:08 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:08 [debug] Diagnostics for board 50:
2025-04-24 15:11:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:13 ago, cause: software
2025-04-24 15:11:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:08 [debug] Moves scheduled 37344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1386085875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:11:08 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21425, writes 0 timeouts 0
2025-04-24 15:11:08 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36053/37134
2025-04-24 15:11:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:08 [info] currentZPosition:0.0792
2025-04-24 15:11:08 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:09 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:09 [debug] Diagnostics for board 50:
2025-04-24 15:11:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:13:14 ago, cause: software
2025-04-24 15:11:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:09 [debug] Moves scheduled 37350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=696, max=15306
Sync err accum 93, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1384828673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:11:09 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21062, writes 11 timeouts 1
2025-04-24 15:11:09 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36324/37155
2025-04-24 15:11:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:10 [info] currentZPosition:0.0790
2025-04-24 15:11:11 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:11 [debug] Diagnostics for board 50:
2025-04-24 15:11:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:16 ago, cause: software
2025-04-24 15:11:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:11 [debug] Moves scheduled 37354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1383778069 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:11:11 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17658, writes 0 timeouts 0
2025-04-24 15:11:11 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36035/37123
2025-04-24 15:11:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:11 [info] currentZPosition:0.0792
2025-04-24 15:11:12 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:12 [debug] Diagnostics for board 50:
2025-04-24 15:11:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:17 ago, cause: software
2025-04-24 15:11:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:12 [debug] Moves scheduled 37358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1382743856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:11:12 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17336, writes 0 timeouts 0
2025-04-24 15:11:12 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36322/37102
2025-04-24 15:11:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:12 [info] currentZPosition:0.0788
2025-04-24 15:11:14 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:14 [debug] Diagnostics for board 50:
2025-04-24 15:11:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:19 ago, cause: software
2025-04-24 15:11:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:14 [debug] Moves scheduled 37362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1381693126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:11:14 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17622, writes 0 timeouts 0
2025-04-24 15:11:14 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35966/37083
2025-04-24 15:11:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:14 [info] currentZPosition:0.0790
2025-04-24 15:11:15 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:15 [debug] Diagnostics for board 50:
2025-04-24 15:11:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:20 ago, cause: software
2025-04-24 15:11:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:15 [debug] Moves scheduled 37366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1380677819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:11:15 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17066, writes 0 timeouts 0
2025-04-24 15:11:15 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36316/37123
2025-04-24 15:11:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:15 [info] currentZPosition:0.0794
2025-04-24 15:11:16 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:16 [debug] Diagnostics for board 50:
2025-04-24 15:11:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:21 ago, cause: software
2025-04-24 15:11:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:16 [debug] Moves scheduled 37370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1379595674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:11:16 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18117, writes 0 timeouts 0
2025-04-24 15:11:16 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36081/37137
2025-04-24 15:11:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:17 [info] currentZPosition:0.0781
2025-04-24 15:11:17 [debug] Stopped at height 0.077 mm
2025-04-24 15:11:18 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:18 [debug] Diagnostics for board 50:
2025-04-24 15:11:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:23 ago, cause: software
2025-04-24 15:11:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:18 [debug] Moves scheduled 37376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1378342390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:11:18 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21036, writes 0 timeouts 0
2025-04-24 15:11:18 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36376/37096
2025-04-24 15:11:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:18 [info] currentZPosition:0.0792
2025-04-24 15:11:19 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:20 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:20 [debug] Diagnostics for board 50:
2025-04-24 15:11:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:25 ago, cause: software
2025-04-24 15:11:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:20 [debug] Moves scheduled 37382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 71, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1377051643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:11:20 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21677, writes 0 timeouts 0
2025-04-24 15:11:20 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36065/37109
2025-04-24 15:11:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:20 [info] currentZPosition:0.0790
2025-04-24 15:11:21 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:21 [debug] Diagnostics for board 50:
2025-04-24 15:11:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:26 ago, cause: software
2025-04-24 15:11:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:21 [debug] Moves scheduled 37386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1376024558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:11:21 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17227, writes 0 timeouts 0
2025-04-24 15:11:21 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36348/37132
2025-04-24 15:11:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:21 [info] currentZPosition:0.0788
2025-04-24 15:11:23 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:23 [debug] Diagnostics for board 50:
2025-04-24 15:11:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:27 ago, cause: software
2025-04-24 15:11:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:23 [debug] Moves scheduled 37390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 95, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1374960085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:11:23 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17846, writes 0 timeouts 0
2025-04-24 15:11:23 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36029/37107
2025-04-24 15:11:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:23 [info] currentZPosition:0.0785
2025-04-24 15:11:24 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:24 [debug] Diagnostics for board 50:
2025-04-24 15:11:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:29 ago, cause: software
2025-04-24 15:11:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:24 [debug] Moves scheduled 37394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1373951589 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:11:24 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16945, writes 0 timeouts 0
2025-04-24 15:11:24 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36340/37107
2025-04-24 15:11:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:24 [info] currentZPosition:0.0793
2025-04-24 15:11:25 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:25 [debug] Diagnostics for board 50:
2025-04-24 15:11:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:30 ago, cause: software
2025-04-24 15:11:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:25 [debug] Moves scheduled 37398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1372878869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:11:25 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17971, writes 0 timeouts 0
2025-04-24 15:11:25 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36046/37093
2025-04-24 15:11:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:25 [info] currentZPosition:0.0787
2025-04-24 15:11:27 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:27 [debug] Diagnostics for board 50:
2025-04-24 15:11:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:32 ago, cause: software
2025-04-24 15:11:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:27 [debug] Moves scheduled 37402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 117, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, next step interrupt due in 1371856953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:11:27 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17137, writes 0 timeouts 0
2025-04-24 15:11:27 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 414, adv 36217/37157
2025-04-24 15:11:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:27 [info] currentZPosition:0.0789
2025-04-24 15:11:28 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:28 [debug] Diagnostics for board 50:
2025-04-24 15:11:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:33 ago, cause: software
2025-04-24 15:11:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:28 [debug] Moves scheduled 37406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 115, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1370811370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:11:28 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17571, writes 0 timeouts 0
2025-04-24 15:11:28 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35989/37172
2025-04-24 15:11:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:28 [info] currentZPosition:0.0794
2025-04-24 15:11:29 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:29 [debug] Diagnostics for board 50:
2025-04-24 15:11:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:34 ago, cause: software
2025-04-24 15:11:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:29 [debug] Moves scheduled 37410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 113, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1369785948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:11:29 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17175, writes 0 timeouts 0
2025-04-24 15:11:29 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36063/37114
2025-04-24 15:11:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4585, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:30 [info] currentZPosition:0.0792
2025-04-24 15:11:31 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:31 [debug] Diagnostics for board 50:
2025-04-24 15:11:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:36 ago, cause: software
2025-04-24 15:11:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:31 [debug] Moves scheduled 37414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 112, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1368702580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:11:31 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18178, writes 0 timeouts 0
2025-04-24 15:11:31 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36020/37110
2025-04-24 15:11:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:31 [info] currentZPosition:0.0778
2025-04-24 15:11:31 [debug] Stopped at height 0.077 mm
2025-04-24 15:11:33 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:33 [debug] Diagnostics for board 50:
2025-04-24 15:11:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:38 ago, cause: software
2025-04-24 15:11:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:33 [debug] Moves scheduled 37420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1367439848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:11:33 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21189, writes 0 timeouts 0
2025-04-24 15:11:33 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36090/37094
2025-04-24 15:11:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:33 [info] currentZPosition:0.0778
2025-04-24 15:11:34 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:34 [debug] Diagnostics for board 50:
2025-04-24 15:11:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:39 ago, cause: software
2025-04-24 15:11:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:34 [debug] Moves scheduled 37424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 94, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1366415915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:11:34 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17182, writes 0 timeouts 0
2025-04-24 15:11:34 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36063/37110
2025-04-24 15:11:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:34 [info] currentZPosition:0.0798
2025-04-24 15:11:34 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:36 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:36 [debug] Diagnostics for board 50:
2025-04-24 15:11:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:41 ago, cause: software
2025-04-24 15:11:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:36 [debug] Moves scheduled 37430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1365163260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:11:36 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21012, writes 0 timeouts 0
2025-04-24 15:11:36 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36079/37090
2025-04-24 15:11:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:36 [info] currentZPosition:0.0798
2025-04-24 15:11:36 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:37 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:37 [debug] Diagnostics for board 50:
2025-04-24 15:11:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:42 ago, cause: software
2025-04-24 15:11:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:37 [debug] Moves scheduled 37436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15306
Sync err accum 60, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1363851984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:11:37 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22005, writes 0 timeouts 0
2025-04-24 15:11:37 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 35999/37114
2025-04-24 15:11:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:38 [info] currentZPosition:0.0789
2025-04-24 15:11:39 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:39 [debug] Diagnostics for board 50:
2025-04-24 15:11:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:44 ago, cause: software
2025-04-24 15:11:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:39 [debug] Moves scheduled 37440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1362854307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:11:39 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16753, writes 0 timeouts 0
2025-04-24 15:11:39 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36055/37142
2025-04-24 15:11:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:39 [info] currentZPosition:0.0801
2025-04-24 15:11:40 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:40 [debug] Diagnostics for board 50:
2025-04-24 15:11:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:45 ago, cause: software
2025-04-24 15:11:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:40 [debug] Moves scheduled 37444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1361781528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:11:40 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17993, writes 0 timeouts 0
2025-04-24 15:11:40 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36054/37132
2025-04-24 15:11:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:40 [info] currentZPosition:0.0794
2025-04-24 15:11:42 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:42 [debug] Diagnostics for board 50:
2025-04-24 15:11:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:46 ago, cause: software
2025-04-24 15:11:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:42 [debug] Moves scheduled 37448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 95, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1360733910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:11:42 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17568, writes 0 timeouts 0
2025-04-24 15:11:42 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36065/37133
2025-04-24 15:11:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:42 [info] currentZPosition:0.0781
2025-04-24 15:11:42 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:43 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:43 [debug] Diagnostics for board 50:
2025-04-24 15:11:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:48 ago, cause: software
2025-04-24 15:11:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:43 [debug] Moves scheduled 37454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 112, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1359465385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:11:43 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21306, writes 0 timeouts 0
2025-04-24 15:11:43 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36005/37128
2025-04-24 15:11:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:43 [info] currentZPosition:0.0794
2025-04-24 15:11:44 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:45 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:45 [debug] Diagnostics for board 50:
2025-04-24 15:11:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:13:50 ago, cause: software
2025-04-24 15:11:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:45 [debug] Moves scheduled 37460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 123, peak jitter 0/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1358219392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:11:45 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20907, writes 0 timeouts 0
2025-04-24 15:11:45 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36111/37118
2025-04-24 15:11:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9019, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:45 [info] currentZPosition:0.0800
2025-04-24 15:11:45 [debug] Stopped at height 0.078 mm
2025-04-24 15:11:47 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:47 [debug] Diagnostics for board 50:
2025-04-24 15:11:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:52 ago, cause: software
2025-04-24 15:11:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:47 [debug] Moves scheduled 37466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 127, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1356927693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:11:47 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21676, writes 0 timeouts 0
2025-04-24 15:11:47 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36034/37117
2025-04-24 15:11:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:47 [info] currentZPosition:0.0799
2025-04-24 15:11:47 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:48 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:48 [debug] Diagnostics for board 50:
2025-04-24 15:11:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:13:53 ago, cause: software
2025-04-24 15:11:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:48 [debug] Moves scheduled 37472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 118, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1355671390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:11:48 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21078, writes 0 timeouts 0
2025-04-24 15:11:48 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36098/37147
2025-04-24 15:11:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:48 [info] currentZPosition:0.0798
2025-04-24 15:11:50 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:50 [debug] Diagnostics for board 50:
2025-04-24 15:11:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:13:55 ago, cause: software
2025-04-24 15:11:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:50 [debug] Moves scheduled 37476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 102, peak jitter -4/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1354603836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, ma
2025-04-24 15:11:50 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17912, writes 0 timeouts 0
2025-04-24 15:11:50 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37128
2025-04-24 15:11:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:50 [info] currentZPosition:0.0793
2025-04-24 15:11:51 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:51 [debug] Diagnostics for board 50:
2025-04-24 15:11:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:56 ago, cause: software
2025-04-24 15:11:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:51 [debug] Moves scheduled 37480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1353576848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:11:51 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17221, writes 0 timeouts 0
2025-04-24 15:11:51 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36085/37160
2025-04-24 15:11:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:51 [info] currentZPosition:0.0793
2025-04-24 15:11:53 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:53 [debug] Diagnostics for board 50:
2025-04-24 15:11:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:57 ago, cause: software
2025-04-24 15:11:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:53 [debug] Moves scheduled 37484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1352512856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:11:53 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17853, writes 0 timeouts 0
2025-04-24 15:11:53 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36037/37098
2025-04-24 15:11:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:53 [info] currentZPosition:0.0789
2025-04-24 15:11:54 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:54 [debug] Diagnostics for board 50:
2025-04-24 15:11:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:13:59 ago, cause: software
2025-04-24 15:11:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:54 [debug] Moves scheduled 37488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 62, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1351489680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:11:54 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17145, writes 0 timeouts 0
2025-04-24 15:11:54 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36080/37127
2025-04-24 15:11:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:54 [info] currentZPosition:0.0788
2025-04-24 15:11:55 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:55 [debug] Diagnostics for board 50:
2025-04-24 15:11:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:14:00 ago, cause: software
2025-04-24 15:11:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:55 [debug] Moves scheduled 37492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1350445776 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:11:55 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17532, writes 0 timeouts 0
2025-04-24 15:11:55 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36101/37117
2025-04-24 15:11:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:55 [info] currentZPosition:0.0795
2025-04-24 15:11:57 [debug] Stopped at height 0.079 mm
2025-04-24 15:11:57 [debug] Diagnostics for board 50:
2025-04-24 15:11:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:02 ago, cause: software
2025-04-24 15:11:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:57 [debug] Moves scheduled 37496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1349406769 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:11:57 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17431, writes 0 timeouts 0
2025-04-24 15:11:57 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36112/37082
2025-04-24 15:11:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:57 [info] currentZPosition:0.0785
2025-04-24 15:11:58 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:58 [debug] Diagnostics for board 50:
2025-04-24 15:11:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:03 ago, cause: software
2025-04-24 15:11:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:58 [debug] Moves scheduled 37500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1348368563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:11:58 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17407, writes 0 timeouts 0
2025-04-24 15:11:58 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36020/37155
2025-04-24 15:11:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:11:58 [info] currentZPosition:0.0796
2025-04-24 15:11:59 [debug] Stopped at height 0.080 mm
2025-04-24 15:11:59 [debug] Diagnostics for board 50:
2025-04-24 15:11:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:11:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:04 ago, cause: software
2025-04-24 15:11:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:11:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:11:59 [debug] Moves scheduled 37504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1347351354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:11:59 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17078, writes 0 timeouts 0
2025-04-24 15:11:59 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36110/37135
2025-04-24 15:11:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:00 [info] currentZPosition:0.0798
2025-04-24 15:12:01 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:01 [debug] Diagnostics for board 50:
2025-04-24 15:12:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:06 ago, cause: software
2025-04-24 15:12:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:01 [debug] Moves scheduled 37508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15306
Sync err accum 107, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1346293460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:01 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17730, writes 0 timeouts 0
2025-04-24 15:12:01 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36061/37133
2025-04-24 15:12:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:01 [info] currentZPosition:0.0796
2025-04-24 15:12:02 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:02 [debug] Diagnostics for board 50:
2025-04-24 15:12:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:14:07 ago, cause: software
2025-04-24 15:12:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:02 [debug] Moves scheduled 37512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9146, max=15000
Sync err accum 107, peak jitter 0/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1345260639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:12:02 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17341, writes 0 timeouts 0
2025-04-24 15:12:02 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36088/37143
2025-04-24 15:12:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:02 [info] currentZPosition:0.0792
2025-04-24 15:12:04 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:04 [debug] Diagnostics for board 50:
2025-04-24 15:12:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:09 ago, cause: software
2025-04-24 15:12:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:04 [debug] Moves scheduled 37516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1344191864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max
2025-04-24 15:12:04 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17922, writes 0 timeouts 0
2025-04-24 15:12:04 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36055/37111
2025-04-24 15:12:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:04 [info] currentZPosition:0.0787
2025-04-24 15:12:05 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:05 [debug] Diagnostics for board 50:
2025-04-24 15:12:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:14:10 ago, cause: software
2025-04-24 15:12:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:05 [debug] Moves scheduled 37520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=10000, max=15000
Sync err accum 102, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1343208752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, ma
2025-04-24 15:12:05 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16497, writes 0 timeouts 0
2025-04-24 15:12:05 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36117/37115
2025-04-24 15:12:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8980, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:05 [info] currentZPosition:0.0807
2025-04-24 15:12:05 [debug] Stopped at height 0.078 mm
2025-04-24 15:12:07 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:07 [debug] Diagnostics for board 50:
2025-04-24 15:12:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:12 ago, cause: software
2025-04-24 15:12:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:07 [debug] Moves scheduled 37526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 92, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1341888727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:07 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22155, writes 0 timeouts 0
2025-04-24 15:12:07 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36048/37107
2025-04-24 15:12:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:07 [info] currentZPosition:0.0792
2025-04-24 15:12:08 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:08 [debug] Diagnostics for board 50:
2025-04-24 15:12:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:13 ago, cause: software
2025-04-24 15:12:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:08 [debug] Moves scheduled 37530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 81, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1340877371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:12:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16950, writes 0 timeouts 0
2025-04-24 15:12:08 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36113/37109
2025-04-24 15:12:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:08 [info] currentZPosition:0.0798
2025-04-24 15:12:09 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:09 [debug] Diagnostics for board 50:
2025-04-24 15:12:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:14 ago, cause: software
2025-04-24 15:12:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:09 [debug] Moves scheduled 37534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1339809273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:12:09 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17961, writes 0 timeouts 0
2025-04-24 15:12:09 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36016/37139
2025-04-24 15:12:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:10 [info] currentZPosition:0.0791
2025-04-24 15:12:11 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:11 [debug] Diagnostics for board 50:
2025-04-24 15:12:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:16 ago, cause: software
2025-04-24 15:12:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:11 [debug] Moves scheduled 37538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -3/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1338805676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:11 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16802, writes 0 timeouts 0
2025-04-24 15:12:11 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36074/37111
2025-04-24 15:12:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:11 [info] currentZPosition:0.0800
2025-04-24 15:12:12 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:12 [debug] Diagnostics for board 50:
2025-04-24 15:12:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:17 ago, cause: software
2025-04-24 15:12:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:12 [debug] Moves scheduled 37542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1337758429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:12:12 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17576, writes 0 timeouts 0
2025-04-24 15:12:12 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36059/37082
2025-04-24 15:12:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:12 [info] currentZPosition:0.0805
2025-04-24 15:12:14 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:14 [debug] Diagnostics for board 50:
2025-04-24 15:12:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:18 ago, cause: software
2025-04-24 15:12:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:14 [debug] Moves scheduled 37546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1336734545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:12:14 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17195, writes 0 timeouts 0
2025-04-24 15:12:14 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36072/37123
2025-04-24 15:12:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:14 [info] currentZPosition:0.0805
2025-04-24 15:12:15 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:15 [debug] Diagnostics for board 50:
2025-04-24 15:12:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:20 ago, cause: software
2025-04-24 15:12:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:15 [debug] Moves scheduled 37550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1335655819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:12:15 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18064, writes 0 timeouts 0
2025-04-24 15:12:15 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36010/37099
2025-04-24 15:12:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:15 [info] currentZPosition:0.0795
2025-04-24 15:12:16 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:16 [debug] Diagnostics for board 50:
2025-04-24 15:12:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:21 ago, cause: software
2025-04-24 15:12:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:16 [debug] Moves scheduled 37554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1334650757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:12:16 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16877, writes 0 timeouts 0
2025-04-24 15:12:16 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36142/37110
2025-04-24 15:12:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:16 [info] currentZPosition:0.0804
2025-04-24 15:12:18 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:18 [debug] Diagnostics for board 50:
2025-04-24 15:12:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:23 ago, cause: software
2025-04-24 15:12:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:18 [debug] Moves scheduled 37558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1333570274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:12:18 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18142, writes 0 timeouts 0
2025-04-24 15:12:18 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36025/37089
2025-04-24 15:12:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:18 [info] currentZPosition:0.0792
2025-04-24 15:12:19 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:19 [debug] Diagnostics for board 50:
2025-04-24 15:12:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:14:24 ago, cause: software
2025-04-24 15:12:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:19 [debug] Moves scheduled 37562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1332556089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:19 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 15:12:19 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36069/37111
2025-04-24 15:12:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:19 [info] currentZPosition:0.0796
2025-04-24 15:12:21 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:21 [debug] Diagnostics for board 50:
2025-04-24 15:12:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:25 ago, cause: software
2025-04-24 15:12:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:21 [debug] Moves scheduled 37566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1331510001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:21 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17548, writes 0 timeouts 0
2025-04-24 15:12:21 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36008/37149
2025-04-24 15:12:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:21 [info] currentZPosition:0.0803
2025-04-24 15:12:22 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:22 [debug] Diagnostics for board 50:
2025-04-24 15:12:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:27 ago, cause: software
2025-04-24 15:12:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:22 [debug] Moves scheduled 37570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1330492280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:12:22 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17113, writes 0 timeouts 0
2025-04-24 15:12:22 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36192/37164
2025-04-24 15:12:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:22 [info] currentZPosition:0.0805
2025-04-24 15:12:23 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:23 [debug] Diagnostics for board 50:
2025-04-24 15:12:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:28 ago, cause: software
2025-04-24 15:12:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:23 [debug] Moves scheduled 37574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8823, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1329420675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:23 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17952, writes 0 timeouts 0
2025-04-24 15:12:23 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36080/37129
2025-04-24 15:12:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:23 [info] currentZPosition:0.0798
2025-04-24 15:12:25 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:25 [debug] Diagnostics for board 50:
2025-04-24 15:12:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:30 ago, cause: software
2025-04-24 15:12:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:25 [debug] Moves scheduled 37578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10714, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1328399508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:12:25 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17116, writes 0 timeouts 0
2025-04-24 15:12:25 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36382/37103
2025-04-24 15:12:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:25 [info] currentZPosition:0.0800
2025-04-24 15:12:26 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:26 [debug] Diagnostics for board 50:
2025-04-24 15:12:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:31 ago, cause: software
2025-04-24 15:12:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:26 [debug] Moves scheduled 37582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1327339288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:12:26 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17812, writes 0 timeouts 0
2025-04-24 15:12:26 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36055/37123
2025-04-24 15:12:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:26 [info] currentZPosition:0.0798
2025-04-24 15:12:27 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:27 [debug] Diagnostics for board 50:
2025-04-24 15:12:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:32 ago, cause: software
2025-04-24 15:12:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:27 [debug] Moves scheduled 37586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1326312685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-24 15:12:27 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17198, writes 0 timeouts 0
2025-04-24 15:12:27 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36329/37094
2025-04-24 15:12:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:28 [info] currentZPosition:0.0798
2025-04-24 15:12:29 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:29 [debug] Diagnostics for board 50:
2025-04-24 15:12:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:34 ago, cause: software
2025-04-24 15:12:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:29 [debug] Moves scheduled 37590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1325244917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:29 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17937, writes 0 timeouts 0
2025-04-24 15:12:29 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36055/37130
2025-04-24 15:12:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:29 [info] currentZPosition:0.0792
2025-04-24 15:12:30 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:30 [debug] Diagnostics for board 50:
2025-04-24 15:12:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:35 ago, cause: software
2025-04-24 15:12:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:30 [debug] Moves scheduled 37594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1324239009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:30 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16934, writes 0 timeouts 0
2025-04-24 15:12:30 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36338/37145
2025-04-24 15:12:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:30 [info] currentZPosition:0.0802
2025-04-24 15:12:32 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:32 [debug] Diagnostics for board 50:
2025-04-24 15:12:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:37 ago, cause: software
2025-04-24 15:12:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:32 [debug] Moves scheduled 37598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1323168678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:32 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17884, writes 0 timeouts 0
2025-04-24 15:12:32 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36067/37132
2025-04-24 15:12:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:32 [info] currentZPosition:0.0796
2025-04-24 15:12:33 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:33 [debug] Diagnostics for board 50:
2025-04-24 15:12:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:38 ago, cause: software
2025-04-24 15:12:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:33 [debug] Moves scheduled 37602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 157, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1322135086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:33 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17350, writes 0 timeouts 0
2025-04-24 15:12:33 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36301/37118
2025-04-24 15:12:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:33 [info] currentZPosition:0.0790
2025-04-24 15:12:34 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:34 [debug] Diagnostics for board 50:
2025-04-24 15:12:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:39 ago, cause: software
2025-04-24 15:12:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:34 [debug] Moves scheduled 37606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 69, peak jitter 0/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1321074337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:12:34 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17838, writes 0 timeouts 0
2025-04-24 15:12:34 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36087/37142
2025-04-24 15:12:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:35 [info] currentZPosition:0.0788
2025-04-24 15:12:36 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:36 [debug] Diagnostics for board 50:
2025-04-24 15:12:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:41 ago, cause: software
2025-04-24 15:12:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:36 [debug] Moves scheduled 37610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1320093898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:36 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16436, writes 0 timeouts 0
2025-04-24 15:12:36 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36349/37151
2025-04-24 15:12:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8990, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:36 [info] currentZPosition:0.0812
2025-04-24 15:12:36 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:38 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:38 [debug] Diagnostics for board 50:
2025-04-24 15:12:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:42 ago, cause: software
2025-04-24 15:12:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:38 [debug] Moves scheduled 37616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1318760855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:12:38 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22355, writes 0 timeouts 0
2025-04-24 15:12:38 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35995/37117
2025-04-24 15:12:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:38 [info] currentZPosition:0.0794
2025-04-24 15:12:38 [debug] Stopped at height 0.078 mm
2025-04-24 15:12:39 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:39 [debug] Diagnostics for board 50:
2025-04-24 15:12:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:44 ago, cause: software
2025-04-24 15:12:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:39 [debug] Moves scheduled 37622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1317503708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:12:39 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21110, writes 0 timeouts 0
2025-04-24 15:12:39 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36271/37148
2025-04-24 15:12:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:39 [info] currentZPosition:0.0798
2025-04-24 15:12:41 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:41 [debug] Diagnostics for board 50:
2025-04-24 15:12:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:45 ago, cause: software
2025-04-24 15:12:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:41 [debug] Moves scheduled 37626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1316456806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:41 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17544, writes 0 timeouts 0
2025-04-24 15:12:41 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36006/37109
2025-04-24 15:12:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:41 [info] currentZPosition:0.0803
2025-04-24 15:12:42 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:42 [debug] Diagnostics for board 50:
2025-04-24 15:12:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:47 ago, cause: software
2025-04-24 15:12:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:42 [debug] Moves scheduled 37630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1315436519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:42 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17130, writes 0 timeouts 0
2025-04-24 15:12:42 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36338/37120
2025-04-24 15:12:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:42 [info] currentZPosition:0.0805
2025-04-24 15:12:43 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:43 [debug] Diagnostics for board 50:
2025-04-24 15:12:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:48 ago, cause: software
2025-04-24 15:12:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:43 [debug] Moves scheduled 37634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1314388008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:43 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17647, writes 0 timeouts 0
2025-04-24 15:12:43 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36078/37122
2025-04-24 15:12:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:43 [info] currentZPosition:0.0811
2025-04-24 15:12:45 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:45 [debug] Diagnostics for board 50:
2025-04-24 15:12:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:50 ago, cause: software
2025-04-24 15:12:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:45 [debug] Moves scheduled 37638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1313344278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:45 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17447, writes 0 timeouts 0
2025-04-24 15:12:45 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36293/37105
2025-04-24 15:12:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:45 [info] currentZPosition:0.0803
2025-04-24 15:12:46 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:46 [debug] Diagnostics for board 50:
2025-04-24 15:12:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:14:51 ago, cause: software
2025-04-24 15:12:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:46 [debug] Moves scheduled 37642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1312279842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:12:46 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17863, writes 0 timeouts 0
2025-04-24 15:12:46 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36028/37120
2025-04-24 15:12:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:46 [info] currentZPosition:0.0799
2025-04-24 15:12:48 [debug] Stopped at height 0.079 mm
2025-04-24 15:12:48 [debug] Diagnostics for board 50:
2025-04-24 15:12:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:14:52 ago, cause: software
2025-04-24 15:12:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:48 [debug] Moves scheduled 37646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1311242734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:12:48 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17407, writes 0 timeouts 0
2025-04-24 15:12:48 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36358/37165
2025-04-24 15:12:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:48 [info] currentZPosition:0.0794
2025-04-24 15:12:49 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:49 [debug] Diagnostics for board 50:
2025-04-24 15:12:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:54 ago, cause: software
2025-04-24 15:12:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:49 [debug] Moves scheduled 37650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1310210127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:12:49 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17316, writes 0 timeouts 0
2025-04-24 15:12:49 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36008/37123
2025-04-24 15:12:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:49 [info] currentZPosition:0.0808
2025-04-24 15:12:49 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:51 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:51 [debug] Diagnostics for board 50:
2025-04-24 15:12:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:55 ago, cause: software
2025-04-24 15:12:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:51 [debug] Moves scheduled 37656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1308954984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:51 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21069, writes 0 timeouts 0
2025-04-24 15:12:51 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36322/37153
2025-04-24 15:12:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:51 [info] currentZPosition:0.0809
2025-04-24 15:12:52 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:52 [debug] Diagnostics for board 50:
2025-04-24 15:12:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:57 ago, cause: software
2025-04-24 15:12:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:52 [debug] Moves scheduled 37660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1307896798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:52 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17744, writes 0 timeouts 0
2025-04-24 15:12:52 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36048/37122
2025-04-24 15:12:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9022, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:52 [info] currentZPosition:0.0808
2025-04-24 15:12:53 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:53 [debug] Diagnostics for board 50:
2025-04-24 15:12:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:14:58 ago, cause: software
2025-04-24 15:12:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:53 [debug] Moves scheduled 37664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1306856063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:12:53 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17458, writes 0 timeouts 0
2025-04-24 15:12:53 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36348/37134
2025-04-24 15:12:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:53 [info] currentZPosition:0.0799
2025-04-24 15:12:55 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:55 [debug] Diagnostics for board 50:
2025-04-24 15:12:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:00 ago, cause: software
2025-04-24 15:12:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:55 [debug] Moves scheduled 37668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1305792926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:12:55 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17868, writes 0 timeouts 0
2025-04-24 15:12:55 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36035/37128
2025-04-24 15:12:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:55 [info] currentZPosition:0.0797
2025-04-24 15:12:56 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:56 [debug] Diagnostics for board 50:
2025-04-24 15:12:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:01 ago, cause: software
2025-04-24 15:12:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:56 [debug] Moves scheduled 37672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1304783475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:12:56 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16891, writes 0 timeouts 0
2025-04-24 15:12:56 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36339/37117
2025-04-24 15:12:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:56 [info] currentZPosition:0.0807
2025-04-24 15:12:58 [debug] Stopped at height 0.081 mm
2025-04-24 15:12:58 [debug] Diagnostics for board 50:
2025-04-24 15:12:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:02 ago, cause: software
2025-04-24 15:12:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:58 [debug] Moves scheduled 37676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1303736950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:12:58 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17554, writes 0 timeouts 0
2025-04-24 15:12:58 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36014/37123
2025-04-24 15:12:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:58 [info] currentZPosition:0.0813
2025-04-24 15:12:59 [debug] Stopped at height 0.080 mm
2025-04-24 15:12:59 [debug] Diagnostics for board 50:
2025-04-24 15:12:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:12:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:04 ago, cause: software
2025-04-24 15:12:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:12:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:12:59 [debug] Moves scheduled 37680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1302690689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:12:59 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17553, writes 0 timeouts 0
2025-04-24 15:12:59 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36382/37087
2025-04-24 15:12:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:12:59 [info] currentZPosition:0.0800
2025-04-24 15:12:59 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:01 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:01 [debug] Diagnostics for board 50:
2025-04-24 15:13:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:06 ago, cause: software
2025-04-24 15:13:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:01 [debug] Moves scheduled 37686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1301433667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:13:01 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21105, writes 0 timeouts 0
2025-04-24 15:13:01 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36016/37156
2025-04-24 15:13:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9006, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:01 [info] currentZPosition:0.0818
2025-04-24 15:13:01 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:02 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:02 [debug] Diagnostics for board 50:
2025-04-24 15:13:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:07 ago, cause: software
2025-04-24 15:13:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:02 [debug] Moves scheduled 37692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 72, peak jitter 0/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1300147027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:13:02 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21577, writes 0 timeouts 0
2025-04-24 15:13:02 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36316/37119
2025-04-24 15:13:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:02 [info] currentZPosition:0.0802
2025-04-24 15:13:04 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:04 [debug] Diagnostics for board 50:
2025-04-24 15:13:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:09 ago, cause: software
2025-04-24 15:13:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:04 [debug] Moves scheduled 37696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1299114510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:04 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17324, writes 0 timeouts 0
2025-04-24 15:13:04 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36053/37128
2025-04-24 15:13:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9017, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:04 [info] currentZPosition:0.0818
2025-04-24 15:13:04 [debug] Stopped at height 0.079 mm
2025-04-24 15:13:05 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:05 [debug] Diagnostics for board 50:
2025-04-24 15:13:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:10 ago, cause: software
2025-04-24 15:13:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:05 [debug] Moves scheduled 37702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1297840439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:05 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21393, writes 0 timeouts 0
2025-04-24 15:13:05 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36324/37117
2025-04-24 15:13:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:06 [info] currentZPosition:0.0807
2025-04-24 15:13:06 [debug] Stopped at height 0.079 mm
2025-04-24 15:13:07 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:07 [debug] Diagnostics for board 50:
2025-04-24 15:13:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:15:12 ago, cause: software
2025-04-24 15:13:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:07 [debug] Moves scheduled 37708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1296534212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:07 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21908, writes 0 timeouts 0
2025-04-24 15:13:07 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 35995/37115
2025-04-24 15:13:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:07 [info] currentZPosition:0.0799
2025-04-24 15:13:09 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:09 [debug] Diagnostics for board 50:
2025-04-24 15:13:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:15:13 ago, cause: software
2025-04-24 15:13:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:09 [debug] Moves scheduled 37712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1295512794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:13:09 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17132, writes 0 timeouts 0
2025-04-24 15:13:09 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36307/37160
2025-04-24 15:13:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:09 [info] currentZPosition:0.0800
2025-04-24 15:13:10 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:10 [debug] Diagnostics for board 50:
2025-04-24 15:13:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:15:15 ago, cause: software
2025-04-24 15:13:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:10 [debug] Moves scheduled 37716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1294453845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:13:10 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17780, writes 0 timeouts 0
2025-04-24 15:13:10 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36010/37164
2025-04-24 15:13:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:10 [info] currentZPosition:0.0799
2025-04-24 15:13:11 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:11 [debug] Diagnostics for board 50:
2025-04-24 15:13:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:16 ago, cause: software
2025-04-24 15:13:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:11 [debug] Moves scheduled 37720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1293423234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:13:11 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17281, writes 0 timeouts 0
2025-04-24 15:13:11 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36351/37103
2025-04-24 15:13:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:11 [info] currentZPosition:0.0796
2025-04-24 15:13:13 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:13 [debug] Diagnostics for board 50:
2025-04-24 15:13:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:18 ago, cause: software
2025-04-24 15:13:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:13 [debug] Moves scheduled 37724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1292402611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:13:13 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17132, writes 0 timeouts 0
2025-04-24 15:13:13 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36056/37125
2025-04-24 15:13:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9018, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:13 [info] currentZPosition:0.0816
2025-04-24 15:13:13 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:14 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:14 [debug] Diagnostics for board 50:
2025-04-24 15:13:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:19 ago, cause: software
2025-04-24 15:13:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:14 [debug] Moves scheduled 37730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1291120481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:14 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21510, writes 0 timeouts 0
2025-04-24 15:13:14 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36321/37124
2025-04-24 15:13:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:14 [info] currentZPosition:0.0804
2025-04-24 15:13:16 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:16 [debug] Diagnostics for board 50:
2025-04-24 15:13:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:21 ago, cause: software
2025-04-24 15:13:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:16 [debug] Moves scheduled 37734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1290053117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:13:16 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17894, writes 0 timeouts 0
2025-04-24 15:13:16 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36015/37081
2025-04-24 15:13:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:16 [info] currentZPosition:0.0798
2025-04-24 15:13:17 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:17 [debug] Diagnostics for board 50:
2025-04-24 15:13:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:22 ago, cause: software
2025-04-24 15:13:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:17 [debug] Moves scheduled 37738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1289052537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:13:17 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16798, writes 0 timeouts 0
2025-04-24 15:13:17 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36285/37107
2025-04-24 15:13:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:17 [info] currentZPosition:0.0811
2025-04-24 15:13:18 [debug] Stopped at height 0.079 mm
2025-04-24 15:13:19 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:19 [debug] Diagnostics for board 50:
2025-04-24 15:13:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:24 ago, cause: software
2025-04-24 15:13:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:19 [debug] Moves scheduled 37744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1287769724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:19 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21524, writes 0 timeouts 0
2025-04-24 15:13:19 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36053/37107
2025-04-24 15:13:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:19 [info] currentZPosition:0.0815
2025-04-24 15:13:19 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:21 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:21 [debug] Diagnostics for board 50:
2025-04-24 15:13:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:25 ago, cause: software
2025-04-24 15:13:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:21 [debug] Moves scheduled 37750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1286476763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:13:21 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21716, writes 0 timeouts 0
2025-04-24 15:13:21 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36094/37133
2025-04-24 15:13:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:21 [info] currentZPosition:0.0798
2025-04-24 15:13:22 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:22 [debug] Diagnostics for board 50:
2025-04-24 15:13:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:27 ago, cause: software
2025-04-24 15:13:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:22 [debug] Moves scheduled 37754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1285437612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:13:22 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17416, writes 0 timeouts 0
2025-04-24 15:13:22 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36038/37124
2025-04-24 15:13:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:22 [info] currentZPosition:0.0807
2025-04-24 15:13:23 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:23 [debug] Diagnostics for board 50:
2025-04-24 15:13:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:28 ago, cause: software
2025-04-24 15:13:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:23 [debug] Moves scheduled 37758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1284397028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:13:23 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17459, writes 0 timeouts 0
2025-04-24 15:13:23 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36113/37134
2025-04-24 15:13:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:23 [info] currentZPosition:0.0796
2025-04-24 15:13:25 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:25 [debug] Diagnostics for board 50:
2025-04-24 15:13:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:30 ago, cause: software
2025-04-24 15:13:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:25 [debug] Moves scheduled 37762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1283356890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:13:25 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17475, writes 0 timeouts 0
2025-04-24 15:13:25 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36045/37110
2025-04-24 15:13:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:25 [info] currentZPosition:0.0806
2025-04-24 15:13:26 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:26 [debug] Diagnostics for board 50:
2025-04-24 15:13:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:15:31 ago, cause: software
2025-04-24 15:13:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:26 [debug] Moves scheduled 37766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1282348372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:13:26 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16902, writes 0 timeouts 0
2025-04-24 15:13:26 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36122/37135
2025-04-24 15:13:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:26 [info] currentZPosition:0.0811
2025-04-24 15:13:27 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:28 [debug] Diagnostics for board 50:
2025-04-24 15:13:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:32 ago, cause: software
2025-04-24 15:13:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:28 [debug] Moves scheduled 37770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 70, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1281275318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:13:28 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18009, writes 0 timeouts 0
2025-04-24 15:13:28 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36048/37128
2025-04-24 15:13:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:28 [info] currentZPosition:0.0804
2025-04-24 15:13:29 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:29 [debug] Diagnostics for board 50:
2025-04-24 15:13:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:34 ago, cause: software
2025-04-24 15:13:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:29 [debug] Moves scheduled 37774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1280247646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:29 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17268, writes 0 timeouts 0
2025-04-24 15:13:29 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36096/37106
2025-04-24 15:13:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:29 [info] currentZPosition:0.0801
2025-04-24 15:13:30 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:30 [debug] Diagnostics for board 50:
2025-04-24 15:13:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:35 ago, cause: software
2025-04-24 15:13:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:30 [debug] Moves scheduled 37778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1279201207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:13:30 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17527, writes 0 timeouts 0
2025-04-24 15:13:30 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36042/37094
2025-04-24 15:13:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:30 [info] currentZPosition:0.0807
2025-04-24 15:13:32 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:32 [debug] Diagnostics for board 50:
2025-04-24 15:13:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:37 ago, cause: software
2025-04-24 15:13:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:32 [debug] Moves scheduled 37782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1278195626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:13:32 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16874, writes 0 timeouts 0
2025-04-24 15:13:32 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36115/37122
2025-04-24 15:13:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:32 [info] currentZPosition:0.0816
2025-04-24 15:13:33 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:33 [debug] Diagnostics for board 50:
2025-04-24 15:13:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:38 ago, cause: software
2025-04-24 15:13:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:33 [debug] Moves scheduled 37786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1277135703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:13:33 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17838, writes 0 timeouts 0
2025-04-24 15:13:33 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36036/37118
2025-04-24 15:13:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 824
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:33 [info] currentZPosition:0.0814
2025-04-24 15:13:34 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:34 [debug] Diagnostics for board 50:
2025-04-24 15:13:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:39 ago, cause: software
2025-04-24 15:13:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:34 [debug] Moves scheduled 37790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1276107175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:13:34 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17210, writes 0 timeouts 0
2025-04-24 15:13:34 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36095/37123
2025-04-24 15:13:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:34 [info] currentZPosition:0.0811
2025-04-24 15:13:36 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:36 [debug] Diagnostics for board 50:
2025-04-24 15:13:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:41 ago, cause: software
2025-04-24 15:13:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:36 [debug] Moves scheduled 37794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1275055949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:36 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17642, writes 0 timeouts 0
2025-04-24 15:13:36 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36046/37101
2025-04-24 15:13:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9057, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:36 [info] currentZPosition:0.0815
2025-04-24 15:13:37 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:37 [debug] Diagnostics for board 50:
2025-04-24 15:13:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:42 ago, cause: software
2025-04-24 15:13:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:37 [debug] Moves scheduled 37798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1274007579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:37 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17614, writes 0 timeouts 0
2025-04-24 15:13:37 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36102/37126
2025-04-24 15:13:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:37 [info] currentZPosition:0.0801
2025-04-24 15:13:38 [debug] Stopped at height 0.079 mm
2025-04-24 15:13:39 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:39 [debug] Diagnostics for board 50:
2025-04-24 15:13:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:15:44 ago, cause: software
2025-04-24 15:13:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:39 [debug] Moves scheduled 37804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1272720500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:13:39 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21579, writes 0 timeouts 0
2025-04-24 15:13:39 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36091/37153
2025-04-24 15:13:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:39 [info] currentZPosition:0.0810
2025-04-24 15:13:39 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:41 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:41 [debug] Diagnostics for board 50:
2025-04-24 15:13:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:45 ago, cause: software
2025-04-24 15:13:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:41 [debug] Moves scheduled 37810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 72, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1271462541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:13:41 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21096, writes 0 timeouts 0
2025-04-24 15:13:41 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36065/37112
2025-04-24 15:13:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:41 [info] currentZPosition:0.0809
2025-04-24 15:13:42 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:42 [debug] Diagnostics for board 50:
2025-04-24 15:13:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:47 ago, cause: software
2025-04-24 15:13:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:42 [debug] Moves scheduled 37814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1270405612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:13:42 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17762, writes 0 timeouts 0
2025-04-24 15:13:42 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36047/37092
2025-04-24 15:13:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:42 [info] currentZPosition:0.0808
2025-04-24 15:13:43 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:43 [debug] Diagnostics for board 50:
2025-04-24 15:13:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:48 ago, cause: software
2025-04-24 15:13:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:43 [debug] Moves scheduled 37818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1269385617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:43 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17100, writes 0 timeouts 0
2025-04-24 15:13:43 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36071/37141
2025-04-24 15:13:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:43 [info] currentZPosition:0.0810
2025-04-24 15:13:45 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:45 [debug] Diagnostics for board 50:
2025-04-24 15:13:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:15:50 ago, cause: software
2025-04-24 15:13:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:45 [debug] Moves scheduled 37822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1268325488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:45 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17774, writes 0 timeouts 0
2025-04-24 15:13:45 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36069/37124
2025-04-24 15:13:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:45 [info] currentZPosition:0.0810
2025-04-24 15:13:46 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:46 [debug] Diagnostics for board 50:
2025-04-24 15:13:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:51 ago, cause: software
2025-04-24 15:13:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:46 [debug] Moves scheduled 37826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1267312683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:46 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17016, writes 0 timeouts 0
2025-04-24 15:13:46 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 436, adv 36064/37110
2025-04-24 15:13:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:46 [info] currentZPosition:0.0814
2025-04-24 15:13:48 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:48 [debug] Diagnostics for board 50:
2025-04-24 15:13:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:52 ago, cause: software
2025-04-24 15:13:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:48 [debug] Moves scheduled 37830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1266259095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:13:48 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17647, writes 0 timeouts 0
2025-04-24 15:13:48 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36020/37078
2025-04-24 15:13:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:48 [info] currentZPosition:0.0818
2025-04-24 15:13:49 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:49 [debug] Diagnostics for board 50:
2025-04-24 15:13:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:15:54 ago, cause: software
2025-04-24 15:13:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:49 [debug] Moves scheduled 37834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 81, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1265225058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 3
2025-04-24 15:13:49 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17358, writes 0 timeouts 0
2025-04-24 15:13:49 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36061/37166
2025-04-24 15:13:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:49 [info] currentZPosition:0.0812
2025-04-24 15:13:50 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:50 [debug] Diagnostics for board 50:
2025-04-24 15:13:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:15:55 ago, cause: software
2025-04-24 15:13:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:50 [debug] Moves scheduled 37838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1264170824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:13:50 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17685, writes 0 timeouts 0
2025-04-24 15:13:50 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36016/37110
2025-04-24 15:13:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:50 [info] currentZPosition:0.0815
2025-04-24 15:13:52 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:52 [debug] Diagnostics for board 50:
2025-04-24 15:13:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:15:57 ago, cause: software
2025-04-24 15:13:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:52 [debug] Moves scheduled 37842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1263153513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:13:52 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17068, writes 0 timeouts 0
2025-04-24 15:13:52 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36157/37113
2025-04-24 15:13:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:52 [info] currentZPosition:0.0820
2025-04-24 15:13:53 [debug] Stopped at height 0.080 mm
2025-04-24 15:13:53 [debug] Diagnostics for board 50:
2025-04-24 15:13:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:15:58 ago, cause: software
2025-04-24 15:13:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:53 [debug] Moves scheduled 37846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1262061037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:13:53 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18329, writes 0 timeouts 0
2025-04-24 15:13:53 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36040/37102
2025-04-24 15:13:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:53 [info] currentZPosition:0.0802
2025-04-24 15:13:54 [debug] Stopped at height 0.079 mm
2025-04-24 15:13:55 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:55 [debug] Diagnostics for board 50:
2025-04-24 15:13:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:00 ago, cause: software
2025-04-24 15:13:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:55 [debug] Moves scheduled 37852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1260824493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:55 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20752, writes 0 timeouts 0
2025-04-24 15:13:55 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36107/37099
2025-04-24 15:13:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:55 [info] currentZPosition:0.0817
2025-04-24 15:13:55 [debug] Stopped at height 0.081 mm
2025-04-24 15:13:56 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:56 [debug] Diagnostics for board 50:
2025-04-24 15:13:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:01 ago, cause: software
2025-04-24 15:13:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:56 [debug] Moves scheduled 37858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1259534310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:13:56 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21647, writes 0 timeouts 0
2025-04-24 15:13:56 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36088/37147
2025-04-24 15:13:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:57 [info] currentZPosition:0.0816
2025-04-24 15:13:58 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:58 [debug] Diagnostics for board 50:
2025-04-24 15:13:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:03 ago, cause: software
2025-04-24 15:13:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:58 [debug] Moves scheduled 37862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1258514856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:13:58 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17093, writes 0 timeouts 0
2025-04-24 15:13:58 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36063/37127
2025-04-24 15:13:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:58 [info] currentZPosition:0.0817
2025-04-24 15:13:59 [debug] Stopped at height 0.082 mm
2025-04-24 15:13:59 [debug] Diagnostics for board 50:
2025-04-24 15:13:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:13:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:16:04 ago, cause: software
2025-04-24 15:13:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:13:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:13:59 [debug] Moves scheduled 37866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1257468462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:13:59 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17559, writes 0 timeouts 0
2025-04-24 15:13:59 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36045/37122
2025-04-24 15:13:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9016, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:13:59 [info] currentZPosition:0.0823
2025-04-24 15:14:01 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:01 [debug] Diagnostics for board 50:
2025-04-24 15:14:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:16:06 ago, cause: software
2025-04-24 15:14:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:01 [debug] Moves scheduled 37870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1256430669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:01 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17411, writes 0 timeouts 0
2025-04-24 15:14:01 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36065/37111
2025-04-24 15:14:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:01 [info] currentZPosition:0.0815
2025-04-24 15:14:02 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:02 [debug] Diagnostics for board 50:
2025-04-24 15:14:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:07 ago, cause: software
2025-04-24 15:14:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:02 [debug] Moves scheduled 37874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1255356080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:02 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18028, writes 0 timeouts 0
2025-04-24 15:14:02 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36020/37117
2025-04-24 15:14:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:02 [info] currentZPosition:0.0806
2025-04-24 15:14:03 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:03 [debug] Diagnostics for board 50:
2025-04-24 15:14:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:16:08 ago, cause: software
2025-04-24 15:14:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:03 [debug] Moves scheduled 37878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1254340627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:03 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17039, writes 0 timeouts 0
2025-04-24 15:14:03 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36101/37120
2025-04-24 15:14:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:04 [info] currentZPosition:0.0809
2025-04-24 15:14:05 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:05 [debug] Diagnostics for board 50:
2025-04-24 15:14:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:10 ago, cause: software
2025-04-24 15:14:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:05 [debug] Moves scheduled 37882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1253303138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:05 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17414, writes 0 timeouts 0
2025-04-24 15:14:05 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35994/37121
2025-04-24 15:14:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:05 [info] currentZPosition:0.0818
2025-04-24 15:14:06 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:06 [debug] Diagnostics for board 50:
2025-04-24 15:14:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:11 ago, cause: software
2025-04-24 15:14:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:06 [debug] Moves scheduled 37886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1252254599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:06 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17592, writes 0 timeouts 0
2025-04-24 15:14:06 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36093/37097
2025-04-24 15:14:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:06 [info] currentZPosition:0.0805
2025-04-24 15:14:07 [debug] Stopped at height 0.080 mm
2025-04-24 15:14:08 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:08 [debug] Diagnostics for board 50:
2025-04-24 15:14:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:13 ago, cause: software
2025-04-24 15:14:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:08 [debug] Moves scheduled 37892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1250978057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:14:08 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21410, writes 0 timeouts 0
2025-04-24 15:14:08 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36025/37149
2025-04-24 15:14:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:08 [info] currentZPosition:0.0813
2025-04-24 15:14:09 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:09 [debug] Diagnostics for board 50:
2025-04-24 15:14:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:16:14 ago, cause: software
2025-04-24 15:14:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:09 [debug] Moves scheduled 37896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1249958742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:09 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17111, writes 0 timeouts 0
2025-04-24 15:14:09 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36072/37103
2025-04-24 15:14:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:09 [info] currentZPosition:0.0815
2025-04-24 15:14:11 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:11 [debug] Diagnostics for board 50:
2025-04-24 15:14:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:16 ago, cause: software
2025-04-24 15:14:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:11 [debug] Moves scheduled 37900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1248904800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:11 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17687, writes 0 timeouts 0
2025-04-24 15:14:11 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36004/37149
2025-04-24 15:14:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:11 [info] currentZPosition:0.0819
2025-04-24 15:14:12 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:12 [debug] Diagnostics for board 50:
2025-04-24 15:14:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:17 ago, cause: software
2025-04-24 15:14:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:12 [debug] Moves scheduled 37904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1247878921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:12 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17218, writes 0 timeouts 0
2025-04-24 15:14:12 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36217/37150
2025-04-24 15:14:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:12 [info] currentZPosition:0.0817
2025-04-24 15:14:13 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:13 [debug] Diagnostics for board 50:
2025-04-24 15:14:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:18 ago, cause: software
2025-04-24 15:14:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:13 [debug] Moves scheduled 37908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1246805936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:13 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18002, writes 0 timeouts 0
2025-04-24 15:14:13 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36038/37156
2025-04-24 15:14:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:14 [info] currentZPosition:0.0809
2025-04-24 15:14:15 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:15 [debug] Diagnostics for board 50:
2025-04-24 15:14:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:20 ago, cause: software
2025-04-24 15:14:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:15 [debug] Moves scheduled 37912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 83, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1245804420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:15 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16802, writes 0 timeouts 0
2025-04-24 15:14:15 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36331/37100
2025-04-24 15:14:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:15 [info] currentZPosition:0.0821
2025-04-24 15:14:16 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:16 [debug] Diagnostics for board 50:
2025-04-24 15:14:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:21 ago, cause: software
2025-04-24 15:14:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:16 [debug] Moves scheduled 37916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1244727986 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:16 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18056, writes 0 timeouts 0
2025-04-24 15:14:16 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36008/37117
2025-04-24 15:14:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:16 [info] currentZPosition:0.0813
2025-04-24 15:14:18 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:18 [debug] Diagnostics for board 50:
2025-04-24 15:14:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:22 ago, cause: software
2025-04-24 15:14:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:18 [debug] Moves scheduled 37920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1243715346 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:18 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16988, writes 0 timeouts 0
2025-04-24 15:14:18 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 343, adv 36343/37170
2025-04-24 15:14:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:18 [info] currentZPosition:0.0823
2025-04-24 15:14:19 [debug] Stopped at height 0.083 mm
2025-04-24 15:14:19 [debug] Diagnostics for board 50:
2025-04-24 15:14:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:16:24 ago, cause: software
2025-04-24 15:14:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:19 [debug] Moves scheduled 37924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1242660374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:19 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17709, writes 0 timeouts 0
2025-04-24 15:14:19 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36054/37113
2025-04-24 15:14:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:19 [info] currentZPosition:0.0825
2025-04-24 15:14:20 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:20 [debug] Diagnostics for board 50:
2025-04-24 15:14:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:16:25 ago, cause: software
2025-04-24 15:14:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:20 [debug] Moves scheduled 37928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1241629621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:20 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17300, writes 0 timeouts 0
2025-04-24 15:14:20 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36333/37120
2025-04-24 15:14:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:20 [info] currentZPosition:0.0822
2025-04-24 15:14:22 [debug] Stopped at height 0.080 mm
2025-04-24 15:14:22 [debug] Diagnostics for board 50:
2025-04-24 15:14:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:16:27 ago, cause: software
2025-04-24 15:14:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:22 [debug] Moves scheduled 37932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1240534717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:14:22 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18355, writes 0 timeouts 0
2025-04-24 15:14:22 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36039/37120
2025-04-24 15:14:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:22 [info] currentZPosition:0.0802
2025-04-24 15:14:22 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:23 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:23 [debug] Diagnostics for board 50:
2025-04-24 15:14:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:28 ago, cause: software
2025-04-24 15:14:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:23 [debug] Moves scheduled 37938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1239315380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:23 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20457, writes 0 timeouts 0
2025-04-24 15:14:23 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36298/37131
2025-04-24 15:14:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:24 [info] currentZPosition:0.0821
2025-04-24 15:14:24 [debug] Stopped at height 0.080 mm
2025-04-24 15:14:25 [debug] Stopped at height 0.083 mm
2025-04-24 15:14:25 [debug] Diagnostics for board 50:
2025-04-24 15:14:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:30 ago, cause: software
2025-04-24 15:14:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:25 [debug] Moves scheduled 37944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1238032989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:25 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21527, writes 0 timeouts 0
2025-04-24 15:14:25 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35988/37117
2025-04-24 15:14:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:25 [info] currentZPosition:0.0827
2025-04-24 15:14:26 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:27 [debug] Stopped at height 0.083 mm
2025-04-24 15:14:27 [debug] Diagnostics for board 50:
2025-04-24 15:14:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:32 ago, cause: software
2025-04-24 15:14:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:27 [debug] Moves scheduled 37950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1236766442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:27 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21254, writes 0 timeouts 0
2025-04-24 15:14:27 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36335/37105
2025-04-24 15:14:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9034, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:27 [info] currentZPosition:0.0825
2025-04-24 15:14:28 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:28 [debug] Diagnostics for board 50:
2025-04-24 15:14:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:33 ago, cause: software
2025-04-24 15:14:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:28 [debug] Moves scheduled 37954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1235694569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:14:28 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17973, writes 0 timeouts 0
2025-04-24 15:14:28 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36031/37151
2025-04-24 15:14:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:28 [info] currentZPosition:0.0817
2025-04-24 15:14:30 [debug] Stopped at height 0.083 mm
2025-04-24 15:14:30 [debug] Diagnostics for board 50:
2025-04-24 15:14:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:35 ago, cause: software
2025-04-24 15:14:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:30 [debug] Moves scheduled 37958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 103, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1234688487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:30 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16890, writes 0 timeouts 0
2025-04-24 15:14:30 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36345/37138
2025-04-24 15:14:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9066, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:30 [info] currentZPosition:0.0826
2025-04-24 15:14:31 [debug] Stopped at height 0.083 mm
2025-04-24 15:14:31 [debug] Diagnostics for board 50:
2025-04-24 15:14:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:36 ago, cause: software
2025-04-24 15:14:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:31 [debug] Moves scheduled 37962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1233626557 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:31 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17857, writes 0 timeouts 0
2025-04-24 15:14:31 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36051/37106
2025-04-24 15:14:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:31 [info] currentZPosition:0.0825
2025-04-24 15:14:32 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:32 [debug] Diagnostics for board 50:
2025-04-24 15:14:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:37 ago, cause: software
2025-04-24 15:14:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:32 [debug] Moves scheduled 37966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1232579585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:14:32 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17527, writes 0 timeouts 0
2025-04-24 15:14:32 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36344/37095
2025-04-24 15:14:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:33 [info] currentZPosition:0.0814
2025-04-24 15:14:34 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:34 [debug] Diagnostics for board 50:
2025-04-24 15:14:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:16:39 ago, cause: software
2025-04-24 15:14:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:34 [debug] Moves scheduled 37970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1231535000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:34 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17536, writes 0 timeouts 0
2025-04-24 15:14:34 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36072/37119
2025-04-24 15:14:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:34 [info] currentZPosition:0.0822
2025-04-24 15:14:35 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:35 [debug] Diagnostics for board 50:
2025-04-24 15:14:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:40 ago, cause: software
2025-04-24 15:14:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:35 [debug] Moves scheduled 37974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 87, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1230510726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:14:35 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17217, writes 0 timeouts 0
2025-04-24 15:14:35 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36305/37161
2025-04-24 15:14:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:35 [info] currentZPosition:0.0821
2025-04-24 15:14:37 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:37 [debug] Diagnostics for board 50:
2025-04-24 15:14:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:41 ago, cause: software
2025-04-24 15:14:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:37 [debug] Moves scheduled 37978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1229449311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:14:37 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17769, writes 0 timeouts 0
2025-04-24 15:14:37 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36044/37129
2025-04-24 15:14:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:37 [info] currentZPosition:0.0818
2025-04-24 15:14:38 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:38 [debug] Diagnostics for board 50:
2025-04-24 15:14:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:43 ago, cause: software
2025-04-24 15:14:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:38 [debug] Moves scheduled 37982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1228431955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:14:38 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17077, writes 0 timeouts 0
2025-04-24 15:14:38 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36355/37092
2025-04-24 15:14:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:38 [info] currentZPosition:0.0820
2025-04-24 15:14:39 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:39 [debug] Diagnostics for board 50:
2025-04-24 15:14:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:44 ago, cause: software
2025-04-24 15:14:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:39 [debug] Moves scheduled 37986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1227381885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:39 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17644, writes 0 timeouts 0
2025-04-24 15:14:39 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35991/37126
2025-04-24 15:14:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:39 [info] currentZPosition:0.0822
2025-04-24 15:14:41 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:41 [debug] Diagnostics for board 50:
2025-04-24 15:14:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:16:46 ago, cause: software
2025-04-24 15:14:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:41 [debug] Moves scheduled 37990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1226350720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:41 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17265, writes 0 timeouts 0
2025-04-24 15:14:41 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36329/37094
2025-04-24 15:14:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:41 [info] currentZPosition:0.0817
2025-04-24 15:14:42 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:42 [debug] Diagnostics for board 50:
2025-04-24 15:14:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:47 ago, cause: software
2025-04-24 15:14:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:42 [debug] Moves scheduled 37994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1225289033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:42 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17826, writes 0 timeouts 0
2025-04-24 15:14:42 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36022/37079
2025-04-24 15:14:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:42 [info] currentZPosition:0.0815
2025-04-24 15:14:44 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:44 [debug] Diagnostics for board 50:
2025-04-24 15:14:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:48 ago, cause: software
2025-04-24 15:14:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:44 [debug] Moves scheduled 37998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 88, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1224271141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:44 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17105, writes 0 timeouts 0
2025-04-24 15:14:44 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36349/37089
2025-04-24 15:14:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:44 [info] currentZPosition:0.0818
2025-04-24 15:14:45 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:45 [debug] Diagnostics for board 50:
2025-04-24 15:14:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:16:50 ago, cause: software
2025-04-24 15:14:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:45 [debug] Moves scheduled 38002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1223223948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:45 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17543, writes 0 timeouts 0
2025-04-24 15:14:45 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36054/37126
2025-04-24 15:14:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:45 [info] currentZPosition:0.0824
2025-04-24 15:14:46 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:46 [debug] Diagnostics for board 50:
2025-04-24 15:14:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:16:51 ago, cause: software
2025-04-24 15:14:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:46 [debug] Moves scheduled 38006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8928, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1222185948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:46 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17416, writes 0 timeouts 0
2025-04-24 15:14:46 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36298/37127
2025-04-24 15:14:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:46 [info] currentZPosition:0.0818
2025-04-24 15:14:48 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:48 [debug] Diagnostics for board 50:
2025-04-24 15:14:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:53 ago, cause: software
2025-04-24 15:14:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:48 [debug] Moves scheduled 38010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1221105463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:14:48 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18156, writes 0 timeouts 0
2025-04-24 15:14:48 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36012/37121
2025-04-24 15:14:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:48 [info] currentZPosition:0.0808
2025-04-24 15:14:49 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:49 [debug] Diagnostics for board 50:
2025-04-24 15:14:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:54 ago, cause: software
2025-04-24 15:14:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:49 [debug] Moves scheduled 38014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1220110521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:14:49 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16673, writes 0 timeouts 0
2025-04-24 15:14:49 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36279/37122
2025-04-24 15:14:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:49 [info] currentZPosition:0.0823
2025-04-24 15:14:50 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:51 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:51 [debug] Diagnostics for board 50:
2025-04-24 15:14:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:56 ago, cause: software
2025-04-24 15:14:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:51 [debug] Moves scheduled 38020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1218814977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:14:51 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21744, writes 0 timeouts 0
2025-04-24 15:14:51 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36055/37105
2025-04-24 15:14:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:51 [info] currentZPosition:0.0821
2025-04-24 15:14:52 [debug] Stopped at height 0.083 mm
2025-04-24 15:14:52 [debug] Diagnostics for board 50:
2025-04-24 15:14:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:57 ago, cause: software
2025-04-24 15:14:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:52 [debug] Moves scheduled 38024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -3/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1217812031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:52 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16858, writes 0 timeouts 0
2025-04-24 15:14:52 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36310/37121
2025-04-24 15:14:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:52 [info] currentZPosition:0.0831
2025-04-24 15:14:54 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:54 [debug] Diagnostics for board 50:
2025-04-24 15:14:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:16:58 ago, cause: software
2025-04-24 15:14:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:54 [debug] Moves scheduled 38028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 79, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1216738911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:54 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17969, writes 0 timeouts 0
2025-04-24 15:14:54 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36024/37096
2025-04-24 15:14:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:54 [info] currentZPosition:0.0824
2025-04-24 15:14:55 [debug] Stopped at height 0.081 mm
2025-04-24 15:14:55 [debug] Diagnostics for board 50:
2025-04-24 15:14:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:00 ago, cause: software
2025-04-24 15:14:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:55 [debug] Moves scheduled 38032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 91, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1215689587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:55 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17614, writes 0 timeouts 0
2025-04-24 15:14:55 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36301/37155
2025-04-24 15:14:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:55 [info] currentZPosition:0.0812
2025-04-24 15:14:56 [debug] Stopped at height 0.084 mm
2025-04-24 15:14:56 [debug] Diagnostics for board 50:
2025-04-24 15:14:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:01 ago, cause: software
2025-04-24 15:14:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:56 [debug] Moves scheduled 38036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=46, frequency (Hz): min=9375, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1214681682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:14:56 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16950, writes 0 timeouts 0
2025-04-24 15:14:56 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36024/37120
2025-04-24 15:14:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8981, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:56 [info] currentZPosition:0.0837
2025-04-24 15:14:57 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:58 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:58 [debug] Diagnostics for board 50:
2025-04-24 15:14:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:03 ago, cause: software
2025-04-24 15:14:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:58 [debug] Moves scheduled 38042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1213380063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:14:58 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21800, writes 0 timeouts 0
2025-04-24 15:14:58 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36314/37160
2025-04-24 15:14:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:14:58 [info] currentZPosition:0.0817
2025-04-24 15:14:59 [debug] Stopped at height 0.082 mm
2025-04-24 15:14:59 [debug] Diagnostics for board 50:
2025-04-24 15:14:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:14:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:17:04 ago, cause: software
2025-04-24 15:14:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:14:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:14:59 [debug] Moves scheduled 38046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1212326724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:14:59 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17682, writes 0 timeouts 0
2025-04-24 15:14:59 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36039/37120
2025-04-24 15:14:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:00 [info] currentZPosition:0.0821
2025-04-24 15:15:01 [debug] Stopped at height 0.081 mm
2025-04-24 15:15:01 [debug] Diagnostics for board 50:
2025-04-24 15:15:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:06 ago, cause: software
2025-04-24 15:15:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:01 [debug] Moves scheduled 38050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1211282164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:01 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17557, writes 0 timeouts 0
2025-04-24 15:15:01 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36344/37112
2025-04-24 15:15:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:01 [info] currentZPosition:0.0809
2025-04-24 15:15:02 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:02 [debug] Diagnostics for board 50:
2025-04-24 15:15:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:07 ago, cause: software
2025-04-24 15:15:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:02 [debug] Moves scheduled 38054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1210246251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:02 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17362, writes 0 timeouts 0
2025-04-24 15:15:02 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36032/37120
2025-04-24 15:15:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:02 [info] currentZPosition:0.0822
2025-04-24 15:15:03 [debug] Stopped at height 0.081 mm
2025-04-24 15:15:04 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:04 [debug] Diagnostics for board 50:
2025-04-24 15:15:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:17:09 ago, cause: software
2025-04-24 15:15:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:04 [debug] Moves scheduled 38060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1209002161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:15:04 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20878, writes 0 timeouts 0
2025-04-24 15:15:04 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36320/37143
2025-04-24 15:15:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:04 [info] currentZPosition:0.0827
2025-04-24 15:15:04 [debug] Stopped at height 0.081 mm
2025-04-24 15:15:06 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:06 [debug] Diagnostics for board 50:
2025-04-24 15:15:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:10 ago, cause: software
2025-04-24 15:15:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:06 [debug] Moves scheduled 38066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1207701284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:15:06 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21821, writes 0 timeouts 0
2025-04-24 15:15:06 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35998/37127
2025-04-24 15:15:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:06 [info] currentZPosition:0.0821
2025-04-24 15:15:07 [debug] Stopped at height 0.081 mm
2025-04-24 15:15:07 [debug] Diagnostics for board 50:
2025-04-24 15:15:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:17:12 ago, cause: software
2025-04-24 15:15:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:07 [debug] Moves scheduled 38070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 62, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1206661398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.4C, max 
2025-04-24 15:15:07 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17452, writes 0 timeouts 0
2025-04-24 15:15:07 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36219/37092
2025-04-24 15:15:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:07 [info] currentZPosition:0.0812
2025-04-24 15:15:08 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:08 [debug] Diagnostics for board 50:
2025-04-24 15:15:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:17:13 ago, cause: software
2025-04-24 15:15:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:08 [debug] Moves scheduled 38074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1205642235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:08 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17103, writes 0 timeouts 0
2025-04-24 15:15:08 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36006/37101
2025-04-24 15:15:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9023, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:08 [info] currentZPosition:0.0834
2025-04-24 15:15:09 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:10 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:10 [debug] Diagnostics for board 50:
2025-04-24 15:15:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:15 ago, cause: software
2025-04-24 15:15:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:10 [debug] Moves scheduled 38080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1204372189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:10 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21305, writes 0 timeouts 0
2025-04-24 15:15:10 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36075/37127
2025-04-24 15:15:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:10 [info] currentZPosition:0.0826
2025-04-24 15:15:11 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:11 [debug] Diagnostics for board 50:
2025-04-24 15:15:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:16 ago, cause: software
2025-04-24 15:15:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:11 [debug] Moves scheduled 38084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 103, peak jitter 0/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1203316463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:11 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17716, writes 0 timeouts 0
2025-04-24 15:15:11 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36051/37151
2025-04-24 15:15:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:12 [info] currentZPosition:0.0826
2025-04-24 15:15:13 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:13 [debug] Diagnostics for board 50:
2025-04-24 15:15:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:18 ago, cause: software
2025-04-24 15:15:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:13 [debug] Moves scheduled 38088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 110, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1202305737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:15:13 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16952, writes 0 timeouts 0
2025-04-24 15:15:13 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 430, adv 36129/37134
2025-04-24 15:15:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:13 [info] currentZPosition:0.0833
2025-04-24 15:15:14 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:14 [debug] Diagnostics for board 50:
2025-04-24 15:15:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:19 ago, cause: software
2025-04-24 15:15:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:14 [debug] Moves scheduled 38092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 117, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1201236919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:14 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17941, writes 0 timeouts 0
2025-04-24 15:15:14 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36082/37165
2025-04-24 15:15:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:14 [info] currentZPosition:0.0827
2025-04-24 15:15:16 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:16 [debug] Diagnostics for board 50:
2025-04-24 15:15:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:21 ago, cause: software
2025-04-24 15:15:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:16 [debug] Moves scheduled 38096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 119, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1200194629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:16 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17492, writes 0 timeouts 0
2025-04-24 15:15:16 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36131/37091
2025-04-24 15:15:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:16 [info] currentZPosition:0.0816
2025-04-24 15:15:17 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:17 [debug] Diagnostics for board 50:
2025-04-24 15:15:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:22 ago, cause: software
2025-04-24 15:15:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:17 [debug] Moves scheduled 38100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 122, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1199158815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:15:17 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17374, writes 0 timeouts 0
2025-04-24 15:15:17 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36078/37128
2025-04-24 15:15:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:17 [info] currentZPosition:0.0829
2025-04-24 15:15:17 [debug] Stopped at height 0.081 mm
2025-04-24 15:15:19 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:19 [debug] Diagnostics for board 50:
2025-04-24 15:15:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:17:24 ago, cause: software
2025-04-24 15:15:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:19 [debug] Moves scheduled 38106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 119, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1197911759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:15:19 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20935, writes 0 timeouts 0
2025-04-24 15:15:19 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36053/37160
2025-04-24 15:15:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9028, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:19 [info] currentZPosition:0.0833
2025-04-24 15:15:19 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:20 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:20 [debug] Diagnostics for board 50:
2025-04-24 15:15:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:25 ago, cause: software
2025-04-24 15:15:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:20 [debug] Moves scheduled 38112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 113, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1196611045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:15:20 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21822, writes 0 timeouts 0
2025-04-24 15:15:20 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36021/37107
2025-04-24 15:15:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:20 [info] currentZPosition:0.0827
2025-04-24 15:15:22 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:22 [debug] Diagnostics for board 50:
2025-04-24 15:15:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:27 ago, cause: software
2025-04-24 15:15:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:22 [debug] Moves scheduled 38116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1195585845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, ma
2025-04-24 15:15:22 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17197, writes 0 timeouts 0
2025-04-24 15:15:22 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36130/37114
2025-04-24 15:15:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:22 [info] currentZPosition:0.0825
2025-04-24 15:15:23 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:23 [debug] Diagnostics for board 50:
2025-04-24 15:15:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:28 ago, cause: software
2025-04-24 15:15:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:23 [debug] Moves scheduled 38120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 91, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1194513095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:15:23 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17996, writes 0 timeouts 0
2025-04-24 15:15:23 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36052/37124
2025-04-24 15:15:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:23 [info] currentZPosition:0.0819
2025-04-24 15:15:25 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:25 [debug] Diagnostics for board 50:
2025-04-24 15:15:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:29 ago, cause: software
2025-04-24 15:15:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:25 [debug] Moves scheduled 38124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1193508996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:15:25 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16853, writes 0 timeouts 0
2025-04-24 15:15:25 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36136/37149
2025-04-24 15:15:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:25 [info] currentZPosition:0.0829
2025-04-24 15:15:26 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:26 [debug] Diagnostics for board 50:
2025-04-24 15:15:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:31 ago, cause: software
2025-04-24 15:15:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:26 [debug] Moves scheduled 38128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1192455004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:15:26 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17679, writes 0 timeouts 0
2025-04-24 15:15:26 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36075/37168
2025-04-24 15:15:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:26 [info] currentZPosition:0.0830
2025-04-24 15:15:27 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:27 [debug] Diagnostics for board 50:
2025-04-24 15:15:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:17:32 ago, cause: software
2025-04-24 15:15:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:27 [debug] Moves scheduled 38132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1191432665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:15:27 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17153, writes 0 timeouts 0
2025-04-24 15:15:27 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36069/37117
2025-04-24 15:15:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:27 [info] currentZPosition:0.0829
2025-04-24 15:15:29 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:29 [debug] Diagnostics for board 50:
2025-04-24 15:15:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:34 ago, cause: software
2025-04-24 15:15:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:29 [debug] Moves scheduled 38136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1190375576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:29 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17742, writes 0 timeouts 0
2025-04-24 15:15:29 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36039/37092
2025-04-24 15:15:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:29 [info] currentZPosition:0.0828
2025-04-24 15:15:30 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:30 [debug] Diagnostics for board 50:
2025-04-24 15:15:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:35 ago, cause: software
2025-04-24 15:15:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:30 [debug] Moves scheduled 38140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1189359238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:30 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17059, writes 0 timeouts 0
2025-04-24 15:15:30 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36056/37162
2025-04-24 15:15:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:30 [info] currentZPosition:0.0831
2025-04-24 15:15:31 [debug] Stopped at height 0.084 mm
2025-04-24 15:15:31 [debug] Diagnostics for board 50:
2025-04-24 15:15:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:36 ago, cause: software
2025-04-24 15:15:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:31 [debug] Moves scheduled 38144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1188318731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:31 [debug] Driver 0: pos -3499, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17453, writes 0 timeouts 0
2025-04-24 15:15:31 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36029/37086
2025-04-24 15:15:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9002, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:32 [info] currentZPosition:0.0842
2025-04-24 15:15:33 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:33 [debug] Diagnostics for board 50:
2025-04-24 15:15:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:38 ago, cause: software
2025-04-24 15:15:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:33 [debug] Moves scheduled 38148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 117, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1187282540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:15:33 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17379, writes 0 timeouts 0
2025-04-24 15:15:33 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36065/37138
2025-04-24 15:15:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:33 [info] currentZPosition:0.0833
2025-04-24 15:15:34 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:34 [debug] Diagnostics for board 50:
2025-04-24 15:15:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:39 ago, cause: software
2025-04-24 15:15:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:34 [debug] Moves scheduled 38152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 125, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967242 ticks, disabled, next step interrupt due in 1186202729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 15:15:34 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18119, writes 0 timeouts 0
2025-04-24 15:15:34 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36072/37122
2025-04-24 15:15:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:34 [info] currentZPosition:0.0820
2025-04-24 15:15:35 [debug] Stopped at height 0.081 mm
2025-04-24 15:15:36 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:36 [debug] Diagnostics for board 50:
2025-04-24 15:15:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:41 ago, cause: software
2025-04-24 15:15:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:36 [debug] Moves scheduled 38158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 123, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1184936940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:15:36 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21254, writes 0 timeouts 0
2025-04-24 15:15:36 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36149/37107
2025-04-24 15:15:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:36 [info] currentZPosition:0.0818
2025-04-24 15:15:37 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:37 [debug] Diagnostics for board 50:
2025-04-24 15:15:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:42 ago, cause: software
2025-04-24 15:15:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:37 [debug] Moves scheduled 38162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1183905392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:15:37 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17300, writes 0 timeouts 0
2025-04-24 15:15:37 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36055/37144
2025-04-24 15:15:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:37 [info] currentZPosition:0.0831
2025-04-24 15:15:38 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:39 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:39 [debug] Diagnostics for board 50:
2025-04-24 15:15:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.8%
Owned mutexes:
Last reset 05:17:44 ago, cause: software
2025-04-24 15:15:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:39 [debug] Moves scheduled 38168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=542, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1182654435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:39 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20954, writes 11 timeouts 1
2025-04-24 15:15:39 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36084/37121
2025-04-24 15:15:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:39 [info] currentZPosition:0.0826
2025-04-24 15:15:40 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:40 [debug] Diagnostics for board 50:
2025-04-24 15:15:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 05:17:45 ago, cause: software
2025-04-24 15:15:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:40 [debug] Moves scheduled 38172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 83, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1181610981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:15:40 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17510, writes 0 timeouts 0
2025-04-24 15:15:40 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36015/37157
2025-04-24 15:15:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:40 [info] currentZPosition:0.0834
2025-04-24 15:15:42 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:42 [debug] Diagnostics for board 50:
2025-04-24 15:15:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:47 ago, cause: software
2025-04-24 15:15:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:42 [debug] Moves scheduled 38176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 62, peak jitter -4/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1180555676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:15:42 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17729, writes 0 timeouts 0
2025-04-24 15:15:42 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36110/37086
2025-04-24 15:15:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:42 [info] currentZPosition:0.0819
2025-04-24 15:15:42 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:44 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:44 [debug] Diagnostics for board 50:
2025-04-24 15:15:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:48 ago, cause: software
2025-04-24 15:15:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:44 [debug] Moves scheduled 38182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1179271766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:15:44 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21527, writes 0 timeouts 0
2025-04-24 15:15:44 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36018/37114
2025-04-24 15:15:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:44 [info] currentZPosition:0.0826
2025-04-24 15:15:45 [debug] Stopped at height 0.084 mm
2025-04-24 15:15:45 [debug] Diagnostics for board 50:
2025-04-24 15:15:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:50 ago, cause: software
2025-04-24 15:15:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:45 [debug] Moves scheduled 38186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1178276923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:15:45 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16685, writes 0 timeouts 0
2025-04-24 15:15:45 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36107/37145
2025-04-24 15:15:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9043, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:45 [info] currentZPosition:0.0840
2025-04-24 15:15:45 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:47 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:47 [debug] Diagnostics for board 50:
2025-04-24 15:15:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:51 ago, cause: software
2025-04-24 15:15:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:47 [debug] Moves scheduled 38192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 81, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1176979873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:47 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21797, writes 0 timeouts 0
2025-04-24 15:15:47 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36079/37142
2025-04-24 15:15:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:47 [info] currentZPosition:0.0835
2025-04-24 15:15:48 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:48 [debug] Diagnostics for board 50:
2025-04-24 15:15:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:53 ago, cause: software
2025-04-24 15:15:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:48 [debug] Moves scheduled 38196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1175946437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:48 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17344, writes 0 timeouts 0
2025-04-24 15:15:48 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36078/37150
2025-04-24 15:15:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:48 [info] currentZPosition:0.0830
2025-04-24 15:15:49 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:49 [debug] Diagnostics for board 50:
2025-04-24 15:15:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:54 ago, cause: software
2025-04-24 15:15:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:49 [debug] Moves scheduled 38200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1174891310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:15:49 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17678, writes 0 timeouts 0
2025-04-24 15:15:49 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36067/37132
2025-04-24 15:15:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:49 [info] currentZPosition:0.0833
2025-04-24 15:15:51 [debug] Stopped at height 0.084 mm
2025-04-24 15:15:51 [debug] Diagnostics for board 50:
2025-04-24 15:15:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:17:56 ago, cause: software
2025-04-24 15:15:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:51 [debug] Moves scheduled 38204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1173873483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:15:51 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17098, writes 0 timeouts 0
2025-04-24 15:15:51 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36063/37106
2025-04-24 15:15:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:51 [info] currentZPosition:0.0836
2025-04-24 15:15:52 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:52 [debug] Diagnostics for board 50:
2025-04-24 15:15:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:17:57 ago, cause: software
2025-04-24 15:15:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:52 [debug] Moves scheduled 38208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1172791646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:15:52 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18120, writes 0 timeouts 0
2025-04-24 15:15:52 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36016/37133
2025-04-24 15:15:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:52 [info] currentZPosition:0.0823
2025-04-24 15:15:53 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:54 [debug] Stopped at height 0.084 mm
2025-04-24 15:15:54 [debug] Diagnostics for board 50:
2025-04-24 15:15:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:17:59 ago, cause: software
2025-04-24 15:15:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:54 [debug] Moves scheduled 38214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15625
Sync err accum 65, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1171564509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:15:54 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20605, writes 0 timeouts 0
2025-04-24 15:15:54 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36087/37130
2025-04-24 15:15:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:54 [info] currentZPosition:0.0841
2025-04-24 15:15:54 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:56 [debug] Stopped at height 0.083 mm
2025-04-24 15:15:56 [debug] Diagnostics for board 50:
2025-04-24 15:15:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:00 ago, cause: software
2025-04-24 15:15:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:56 [debug] Moves scheduled 38220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1170253983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:56 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22012, writes 0 timeouts 0
2025-04-24 15:15:56 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36030/37084
2025-04-24 15:15:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:56 [info] currentZPosition:0.0829
2025-04-24 15:15:57 [debug] Stopped at height 0.082 mm
2025-04-24 15:15:57 [debug] Diagnostics for board 50:
2025-04-24 15:15:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:02 ago, cause: software
2025-04-24 15:15:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:57 [debug] Moves scheduled 38224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1169216679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:15:57 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17391, writes 0 timeouts 0
2025-04-24 15:15:57 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36058/37137
2025-04-24 15:15:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:57 [info] currentZPosition:0.0822
2025-04-24 15:15:58 [debug] Stopped at height 0.084 mm
2025-04-24 15:15:58 [debug] Diagnostics for board 50:
2025-04-24 15:15:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:15:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:18:03 ago, cause: software
2025-04-24 15:15:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:15:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:15:58 [debug] Moves scheduled 38228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1168201157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:15:58 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17029, writes 0 timeouts 0
2025-04-24 15:15:58 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36010/37170
2025-04-24 15:15:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:15:58 [info] currentZPosition:0.0845
2025-04-24 15:15:59 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:00 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:00 [debug] Diagnostics for board 50:
2025-04-24 15:16:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:05 ago, cause: software
2025-04-24 15:16:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:00 [debug] Moves scheduled 38234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1166916716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:16:00 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21595, writes 0 timeouts 0
2025-04-24 15:16:00 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36072/37122
2025-04-24 15:16:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:00 [info] currentZPosition:0.0827
2025-04-24 15:16:01 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:01 [debug] Diagnostics for board 50:
2025-04-24 15:16:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:06 ago, cause: software
2025-04-24 15:16:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:01 [debug] Moves scheduled 38238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 73, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1165881603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:16:01 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17333, writes 0 timeouts 0
2025-04-24 15:16:01 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36016/37130
2025-04-24 15:16:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:01 [info] currentZPosition:0.0839
2025-04-24 15:16:03 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:03 [debug] Diagnostics for board 50:
2025-04-24 15:16:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:08 ago, cause: software
2025-04-24 15:16:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:03 [debug] Moves scheduled 38242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1164878162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:16:03 [debug] Driver 0: pos -3497, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16834, writes 0 timeouts 0
2025-04-24 15:16:03 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36206/37171
2025-04-24 15:16:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8984, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:03 [info] currentZPosition:0.0849
2025-04-24 15:16:04 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:04 [debug] Diagnostics for board 50:
2025-04-24 15:16:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:09 ago, cause: software
2025-04-24 15:16:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:04 [debug] Moves scheduled 38246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1163793036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:16:04 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18217, writes 0 timeouts 0
2025-04-24 15:16:04 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36061/37150
2025-04-24 15:16:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:04 [info] currentZPosition:0.0834
2025-04-24 15:16:05 [debug] Stopped at height 0.082 mm
2025-04-24 15:16:06 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:06 [debug] Diagnostics for board 50:
2025-04-24 15:16:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:11 ago, cause: software
2025-04-24 15:16:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:06 [debug] Moves scheduled 38252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1162537744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:06 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21046, writes 0 timeouts 0
2025-04-24 15:16:06 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36306/37103
2025-04-24 15:16:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:06 [info] currentZPosition:0.0839
2025-04-24 15:16:07 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:07 [debug] Diagnostics for board 50:
2025-04-24 15:16:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:12 ago, cause: software
2025-04-24 15:16:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:07 [debug] Moves scheduled 38256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 95, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1161468655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:16:07 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17946, writes 0 timeouts 0
2025-04-24 15:16:07 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36043/37113
2025-04-24 15:16:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:07 [info] currentZPosition:0.0833
2025-04-24 15:16:09 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:09 [debug] Diagnostics for board 50:
2025-04-24 15:16:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:14 ago, cause: software
2025-04-24 15:16:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:09 [debug] Moves scheduled 38260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1160435874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:16:09 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17326, writes 0 timeouts 0
2025-04-24 15:16:09 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36299/37164
2025-04-24 15:16:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:09 [info] currentZPosition:0.0831
2025-04-24 15:16:10 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:10 [debug] Diagnostics for board 50:
2025-04-24 15:16:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:15 ago, cause: software
2025-04-24 15:16:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:10 [debug] Moves scheduled 38264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1159398350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:16:10 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17404, writes 0 timeouts 0
2025-04-24 15:16:10 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36046/37136
2025-04-24 15:16:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:10 [info] currentZPosition:0.0841
2025-04-24 15:16:11 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:11 [debug] Diagnostics for board 50:
2025-04-24 15:16:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:16 ago, cause: software
2025-04-24 15:16:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:11 [debug] Moves scheduled 38268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1158361084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:16:11 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17398, writes 0 timeouts 0
2025-04-24 15:16:11 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36296/37124
2025-04-24 15:16:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:11 [info] currentZPosition:0.0835
2025-04-24 15:16:13 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:13 [debug] Diagnostics for board 50:
2025-04-24 15:16:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:18 ago, cause: software
2025-04-24 15:16:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:13 [debug] Moves scheduled 38272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1157303016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:16:13 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17775, writes 0 timeouts 0
2025-04-24 15:16:13 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36062/37141
2025-04-24 15:16:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:13 [info] currentZPosition:0.0835
2025-04-24 15:16:14 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:14 [debug] Diagnostics for board 50:
2025-04-24 15:16:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:19 ago, cause: software
2025-04-24 15:16:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:14 [debug] Moves scheduled 38276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1156314075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:16:14 [debug] Driver 0: pos -3498, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16584, writes 0 timeouts 0
2025-04-24 15:16:14 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36289/37124
2025-04-24 15:16:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:14 [info] currentZPosition:0.0853
2025-04-24 15:16:15 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:16 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:16 [debug] Diagnostics for board 50:
2025-04-24 15:16:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:21 ago, cause: software
2025-04-24 15:16:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:16 [debug] Moves scheduled 38282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1154987691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:16:16 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22263, writes 0 timeouts 0
2025-04-24 15:16:16 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35963/37151
2025-04-24 15:16:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:16 [info] currentZPosition:0.0834
2025-04-24 15:16:17 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:17 [debug] Diagnostics for board 50:
2025-04-24 15:16:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:22 ago, cause: software
2025-04-24 15:16:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:17 [debug] Moves scheduled 38286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1153961741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:16:17 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17218, writes 0 timeouts 0
2025-04-24 15:16:17 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36384/37114
2025-04-24 15:16:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:17 [info] currentZPosition:0.0833
2025-04-24 15:16:19 [debug] Stopped at height 0.082 mm
2025-04-24 15:16:19 [debug] Diagnostics for board 50:
2025-04-24 15:16:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:24 ago, cause: software
2025-04-24 15:16:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:19 [debug] Moves scheduled 38290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1152888168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:16:19 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18023, writes 0 timeouts 0
2025-04-24 15:16:19 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36007/37117
2025-04-24 15:16:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:19 [info] currentZPosition:0.0823
2025-04-24 15:16:20 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:20 [debug] Diagnostics for board 50:
2025-04-24 15:16:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:25 ago, cause: software
2025-04-24 15:16:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:20 [debug] Moves scheduled 38294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1151894596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:16:20 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16659, writes 0 timeouts 0
2025-04-24 15:16:20 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36309/37138
2025-04-24 15:16:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:20 [info] currentZPosition:0.0839
2025-04-24 15:16:20 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:22 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:22 [debug] Diagnostics for board 50:
2025-04-24 15:16:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:27 ago, cause: software
2025-04-24 15:16:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:22 [debug] Moves scheduled 38300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1150589563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:16:22 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21910, writes 0 timeouts 0
2025-04-24 15:16:22 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36027/37123
2025-04-24 15:16:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:22 [info] currentZPosition:0.0834
2025-04-24 15:16:23 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:23 [debug] Diagnostics for board 50:
2025-04-24 15:16:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:28 ago, cause: software
2025-04-24 15:16:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:23 [debug] Moves scheduled 38304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/4, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1149564579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:16:23 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17202, writes 0 timeouts 0
2025-04-24 15:16:23 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36313/37161
2025-04-24 15:16:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:23 [info] currentZPosition:0.0833
2025-04-24 15:16:25 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:25 [debug] Diagnostics for board 50:
2025-04-24 15:16:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:29 ago, cause: software
2025-04-24 15:16:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:25 [debug] Moves scheduled 38308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1148525508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:16:25 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17434, writes 0 timeouts 0
2025-04-24 15:16:25 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 415, adv 36057/37134
2025-04-24 15:16:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:25 [info] currentZPosition:0.0843
2025-04-24 15:16:26 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:26 [debug] Diagnostics for board 50:
2025-04-24 15:16:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:31 ago, cause: software
2025-04-24 15:16:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:26 [debug] Moves scheduled 38312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 91, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1147505376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:26 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17116, writes 0 timeouts 0
2025-04-24 15:16:26 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36348/37150
2025-04-24 15:16:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:26 [info] currentZPosition:0.0845
2025-04-24 15:16:27 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:27 [debug] Diagnostics for board 50:
2025-04-24 15:16:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:32 ago, cause: software
2025-04-24 15:16:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:27 [debug] Moves scheduled 38316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1146434768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:27 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17953, writes 0 timeouts 0
2025-04-24 15:16:27 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36010/37169
2025-04-24 15:16:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:27 [info] currentZPosition:0.0837
2025-04-24 15:16:29 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:29 [debug] Diagnostics for board 50:
2025-04-24 15:16:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:34 ago, cause: software
2025-04-24 15:16:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:29 [debug] Moves scheduled 38320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1145409964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:16:29 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17193, writes 0 timeouts 0
2025-04-24 15:16:29 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36324/37102
2025-04-24 15:16:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:29 [info] currentZPosition:0.0836
2025-04-24 15:16:30 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:30 [debug] Diagnostics for board 50:
2025-04-24 15:16:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:35 ago, cause: software
2025-04-24 15:16:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:30 [debug] Moves scheduled 38324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1144360641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:16:30 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17611, writes 0 timeouts 0
2025-04-24 15:16:30 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36069/37137
2025-04-24 15:16:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:30 [info] currentZPosition:0.0844
2025-04-24 15:16:31 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:31 [debug] Diagnostics for board 50:
2025-04-24 15:16:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:36 ago, cause: software
2025-04-24 15:16:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:31 [debug] Moves scheduled 38328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 95, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1143339239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:16:31 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17149, writes 0 timeouts 0
2025-04-24 15:16:31 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36348/37126
2025-04-24 15:16:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:32 [info] currentZPosition:0.0844
2025-04-24 15:16:33 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:33 [debug] Diagnostics for board 50:
2025-04-24 15:16:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:38 ago, cause: software
2025-04-24 15:16:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:33 [debug] Moves scheduled 38332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1142282927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:16:33 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17710, writes 0 timeouts 0
2025-04-24 15:16:33 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36036/37116
2025-04-24 15:16:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:33 [info] currentZPosition:0.0844
2025-04-24 15:16:34 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:34 [debug] Diagnostics for board 50:
2025-04-24 15:16:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:39 ago, cause: software
2025-04-24 15:16:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:34 [debug] Moves scheduled 38336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1141264919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:16:34 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17085, writes 0 timeouts 0
2025-04-24 15:16:34 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36329/37136
2025-04-24 15:16:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:34 [info] currentZPosition:0.0847
2025-04-24 15:16:36 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:36 [debug] Diagnostics for board 50:
2025-04-24 15:16:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:41 ago, cause: software
2025-04-24 15:16:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:36 [debug] Moves scheduled 38340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1140187431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:16:36 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18086, writes 0 timeouts 0
2025-04-24 15:16:36 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36014/37140
2025-04-24 15:16:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:36 [info] currentZPosition:0.0835
2025-04-24 15:16:37 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:37 [debug] Diagnostics for board 50:
2025-04-24 15:16:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:42 ago, cause: software
2025-04-24 15:16:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:37 [debug] Moves scheduled 38344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1139169076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:16:37 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17110, writes 0 timeouts 0
2025-04-24 15:16:37 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36307/37154
2025-04-24 15:16:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:37 [info] currentZPosition:0.0837
2025-04-24 15:16:38 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:38 [debug] Diagnostics for board 50:
2025-04-24 15:16:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:43 ago, cause: software
2025-04-24 15:16:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:38 [debug] Moves scheduled 38348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1138104427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:16:38 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17843, writes 0 timeouts 0
2025-04-24 15:16:38 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36059/37163
2025-04-24 15:16:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:38 [info] currentZPosition:0.0834
2025-04-24 15:16:40 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:40 [debug] Diagnostics for board 50:
2025-04-24 15:16:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:45 ago, cause: software
2025-04-24 15:16:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:40 [debug] Moves scheduled 38352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8620, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1137101917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:16:40 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16828, writes 0 timeouts 0
2025-04-24 15:16:40 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36296/37135
2025-04-24 15:16:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:40 [info] currentZPosition:0.0845
2025-04-24 15:16:41 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:41 [debug] Diagnostics for board 50:
2025-04-24 15:16:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:46 ago, cause: software
2025-04-24 15:16:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:41 [debug] Moves scheduled 38356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1136031739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:41 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17955, writes 0 timeouts 0
2025-04-24 15:16:41 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37117
2025-04-24 15:16:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:41 [info] currentZPosition:0.0839
2025-04-24 15:16:43 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:43 [debug] Diagnostics for board 50:
2025-04-24 15:16:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:47 ago, cause: software
2025-04-24 15:16:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:43 [debug] Moves scheduled 38360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1135010066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:43 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17143, writes 0 timeouts 0
2025-04-24 15:16:43 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36347/37121
2025-04-24 15:16:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9078, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:43 [info] currentZPosition:0.0840
2025-04-24 15:16:44 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:44 [debug] Diagnostics for board 50:
2025-04-24 15:16:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:49 ago, cause: software
2025-04-24 15:16:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:44 [debug] Moves scheduled 38364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1133954794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:16:44 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17694, writes 0 timeouts 0
2025-04-24 15:16:44 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36045/37128
2025-04-24 15:16:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:44 [info] currentZPosition:0.0840
2025-04-24 15:16:45 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:45 [debug] Diagnostics for board 50:
2025-04-24 15:16:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:50 ago, cause: software
2025-04-24 15:16:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:45 [debug] Moves scheduled 38368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1132955057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:16:45 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16803, writes 0 timeouts 0
2025-04-24 15:16:45 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36396/37079
2025-04-24 15:16:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:45 [info] currentZPosition:0.0855
2025-04-24 15:16:46 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:47 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:47 [debug] Diagnostics for board 50:
2025-04-24 15:16:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:52 ago, cause: software
2025-04-24 15:16:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:47 [debug] Moves scheduled 38374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1131651104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:16:47 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21857, writes 0 timeouts 0
2025-04-24 15:16:47 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36012/37129
2025-04-24 15:16:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:47 [info] currentZPosition:0.0848
2025-04-24 15:16:48 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:48 [debug] Diagnostics for board 50:
2025-04-24 15:16:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:53 ago, cause: software
2025-04-24 15:16:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:48 [debug] Moves scheduled 38378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1130635955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:16:48 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17024, writes 0 timeouts 0
2025-04-24 15:16:48 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36228/37169
2025-04-24 15:16:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:48 [info] currentZPosition:0.0852
2025-04-24 15:16:50 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:50 [debug] Diagnostics for board 50:
2025-04-24 15:16:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:55 ago, cause: software
2025-04-24 15:16:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:50 [debug] Moves scheduled 38382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1129562206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:16:50 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17996, writes 0 timeouts 0
2025-04-24 15:16:50 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36009/37146
2025-04-24 15:16:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:50 [info] currentZPosition:0.0843
2025-04-24 15:16:51 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:51 [debug] Diagnostics for board 50:
2025-04-24 15:16:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:18:56 ago, cause: software
2025-04-24 15:16:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:51 [debug] Moves scheduled 38386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=14705
Sync err accum 69, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1128556695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:51 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16887, writes 0 timeouts 0
2025-04-24 15:16:51 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36318/37107
2025-04-24 15:16:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:51 [info] currentZPosition:0.0852
2025-04-24 15:16:53 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:53 [debug] Diagnostics for board 50:
2025-04-24 15:16:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:18:57 ago, cause: software
2025-04-24 15:16:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:53 [debug] Moves scheduled 38390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1127479505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:53 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18083, writes 0 timeouts 0
2025-04-24 15:16:53 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36080/37121
2025-04-24 15:16:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:53 [info] currentZPosition:0.0842
2025-04-24 15:16:54 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:54 [debug] Diagnostics for board 50:
2025-04-24 15:16:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:18:59 ago, cause: software
2025-04-24 15:16:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:54 [debug] Moves scheduled 38394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1126448697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:16:54 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17292, writes 0 timeouts 0
2025-04-24 15:16:54 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36302/37112
2025-04-24 15:16:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:54 [info] currentZPosition:0.0839
2025-04-24 15:16:55 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:55 [debug] Diagnostics for board 50:
2025-04-24 15:16:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:00 ago, cause: software
2025-04-24 15:16:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:55 [debug] Moves scheduled 38398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1125420282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:16:55 [debug] Driver 0: pos -3503, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17235, writes 0 timeouts 0
2025-04-24 15:16:55 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36020/37088
2025-04-24 15:16:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9012, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:55 [info] currentZPosition:0.0854
2025-04-24 15:16:56 [debug] Stopped at height 0.084 mm
2025-04-24 15:16:57 [debug] Stopped at height 0.085 mm
2025-04-24 15:16:57 [debug] Diagnostics for board 50:
2025-04-24 15:16:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:19:02 ago, cause: software
2025-04-24 15:16:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:57 [debug] Moves scheduled 38404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1124158296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:16:57 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21206, writes 0 timeouts 0
2025-04-24 15:16:57 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36265/37118
2025-04-24 15:16:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:57 [info] currentZPosition:0.0850
2025-04-24 15:16:58 [debug] Stopped at height 0.083 mm
2025-04-24 15:16:58 [debug] Diagnostics for board 50:
2025-04-24 15:16:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:16:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:03 ago, cause: software
2025-04-24 15:16:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:16:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:16:58 [debug] Moves scheduled 38408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 70, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1123071071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:16:58 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18232, writes 0 timeouts 0
2025-04-24 15:16:58 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36040/37081
2025-04-24 15:16:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:16:59 [info] currentZPosition:0.0834
2025-04-24 15:16:59 [debug] Stopped at height 0.083 mm
2025-04-24 15:17:00 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:00 [debug] Diagnostics for board 50:
2025-04-24 15:17:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:05 ago, cause: software
2025-04-24 15:17:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:00 [debug] Moves scheduled 38414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1121825312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:00 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20898, writes 0 timeouts 0
2025-04-24 15:17:00 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36057/37113
2025-04-24 15:17:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:00 [info] currentZPosition:0.0844
2025-04-24 15:17:01 [debug] Stopped at height 0.083 mm
2025-04-24 15:17:02 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:02 [debug] Diagnostics for board 50:
2025-04-24 15:17:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:07 ago, cause: software
2025-04-24 15:17:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:02 [debug] Moves scheduled 38420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1120535082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:02 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21673, writes 0 timeouts 0
2025-04-24 15:17:02 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36098/37151
2025-04-24 15:17:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:02 [info] currentZPosition:0.0841
2025-04-24 15:17:03 [debug] Stopped at height 0.083 mm
2025-04-24 15:17:03 [debug] Diagnostics for board 50:
2025-04-24 15:17:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:08 ago, cause: software
2025-04-24 15:17:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:03 [debug] Moves scheduled 38424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1119494307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:17:03 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17437, writes 0 timeouts 0
2025-04-24 15:17:03 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36067/37099
2025-04-24 15:17:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:03 [info] currentZPosition:0.0832
2025-04-24 15:17:05 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:05 [debug] Diagnostics for board 50:
2025-04-24 15:17:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:09 ago, cause: software
2025-04-24 15:17:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:05 [debug] Moves scheduled 38428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1118473768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:17:05 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17128, writes 0 timeouts 0
2025-04-24 15:17:05 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36046/37102
2025-04-24 15:17:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9031, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:05 [info] currentZPosition:0.0852
2025-04-24 15:17:05 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:06 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:06 [debug] Diagnostics for board 50:
2025-04-24 15:17:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:11 ago, cause: software
2025-04-24 15:17:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:06 [debug] Moves scheduled 38434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1117204347 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-24 15:17:06 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21313, writes 0 timeouts 0
2025-04-24 15:17:06 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36110/37083
2025-04-24 15:17:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:06 [info] currentZPosition:0.0842
2025-04-24 15:17:08 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:08 [debug] Diagnostics for board 50:
2025-04-24 15:17:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:13 ago, cause: software
2025-04-24 15:17:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:08 [debug] Moves scheduled 38438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1116162103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:17:08 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17459, writes 0 timeouts 0
2025-04-24 15:17:08 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36004/37101
2025-04-24 15:17:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9038, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:08 [info] currentZPosition:0.0852
2025-04-24 15:17:09 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:09 [debug] Diagnostics for board 50:
2025-04-24 15:17:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:19:14 ago, cause: software
2025-04-24 15:17:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:09 [debug] Moves scheduled 38442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1115128706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:09 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17333, writes 0 timeouts 0
2025-04-24 15:17:09 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36065/37108
2025-04-24 15:17:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:09 [info] currentZPosition:0.0847
2025-04-24 15:17:10 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:10 [debug] Diagnostics for board 50:
2025-04-24 15:17:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:15 ago, cause: software
2025-04-24 15:17:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:10 [debug] Moves scheduled 38446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1114087932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:17:10 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17507, writes 0 timeouts 0
2025-04-24 15:17:10 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36006/37092
2025-04-24 15:17:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:11 [info] currentZPosition:0.0855
2025-04-24 15:17:12 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:12 [debug] Diagnostics for board 50:
2025-04-24 15:17:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:17 ago, cause: software
2025-04-24 15:17:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:12 [debug] Moves scheduled 38450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1113053190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:17:12 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17314, writes 0 timeouts 0
2025-04-24 15:17:12 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36095/37139
2025-04-24 15:17:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:12 [info] currentZPosition:0.0849
2025-04-24 15:17:13 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:13 [debug] Diagnostics for board 50:
2025-04-24 15:17:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:18 ago, cause: software
2025-04-24 15:17:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:13 [debug] Moves scheduled 38454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1111996244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:17:13 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17739, writes 0 timeouts 0
2025-04-24 15:17:13 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36043/37116
2025-04-24 15:17:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:13 [info] currentZPosition:0.0849
2025-04-24 15:17:15 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:15 [debug] Diagnostics for board 50:
2025-04-24 15:17:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:19 ago, cause: software
2025-04-24 15:17:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:15 [debug] Moves scheduled 38458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 78, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1110978820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:17:15 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17110, writes 0 timeouts 0
2025-04-24 15:17:15 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36094/37111
2025-04-24 15:17:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:15 [info] currentZPosition:0.0850
2025-04-24 15:17:16 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:16 [debug] Diagnostics for board 50:
2025-04-24 15:17:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:21 ago, cause: software
2025-04-24 15:17:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:16 [debug] Moves scheduled 38462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8928, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1109916782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:17:16 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17783, writes 0 timeouts 0
2025-04-24 15:17:16 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36045/37128
2025-04-24 15:17:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:16 [info] currentZPosition:0.0851
2025-04-24 15:17:17 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:17 [debug] Diagnostics for board 50:
2025-04-24 15:17:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:22 ago, cause: software
2025-04-24 15:17:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:17 [debug] Moves scheduled 38466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1108892092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:17:17 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17178, writes 0 timeouts 0
2025-04-24 15:17:17 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36101/37146
2025-04-24 15:17:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:17 [info] currentZPosition:0.0849
2025-04-24 15:17:19 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:19 [debug] Diagnostics for board 50:
2025-04-24 15:17:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:24 ago, cause: software
2025-04-24 15:17:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:19 [debug] Moves scheduled 38470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1107839008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:17:19 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17670, writes 0 timeouts 0
2025-04-24 15:17:19 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36045/37162
2025-04-24 15:17:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:19 [info] currentZPosition:0.0853
2025-04-24 15:17:20 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:20 [debug] Diagnostics for board 50:
2025-04-24 15:17:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:19:25 ago, cause: software
2025-04-24 15:17:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:20 [debug] Moves scheduled 38474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 78, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1106792757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:17:20 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17565, writes 0 timeouts 0
2025-04-24 15:17:20 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36102/37122
2025-04-24 15:17:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:20 [info] currentZPosition:0.0840
2025-04-24 15:17:21 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:22 [debug] Stopped at height 0.086 mm
2025-04-24 15:17:22 [debug] Diagnostics for board 50:
2025-04-24 15:17:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:27 ago, cause: software
2025-04-24 15:17:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:22 [debug] Moves scheduled 38480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1105529014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:22 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21207, writes 0 timeouts 0
2025-04-24 15:17:22 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36044/37124
2025-04-24 15:17:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:22 [info] currentZPosition:0.0857
2025-04-24 15:17:22 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:24 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:24 [debug] Diagnostics for board 50:
2025-04-24 15:17:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:28 ago, cause: software
2025-04-24 15:17:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:24 [debug] Moves scheduled 38486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1104237277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:17:24 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21674, writes 0 timeouts 0
2025-04-24 15:17:24 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36084/37154
2025-04-24 15:17:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:24 [info] currentZPosition:0.0838
2025-04-24 15:17:25 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:25 [debug] Diagnostics for board 50:
2025-04-24 15:17:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:30 ago, cause: software
2025-04-24 15:17:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:25 [debug] Moves scheduled 38490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1103201331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:17:25 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17387, writes 0 timeouts 0
2025-04-24 15:17:25 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36048/37121
2025-04-24 15:17:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:25 [info] currentZPosition:0.0849
2025-04-24 15:17:26 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:26 [debug] Diagnostics for board 50:
2025-04-24 15:17:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:31 ago, cause: software
2025-04-24 15:17:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:26 [debug] Moves scheduled 38494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1102180721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:17:26 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 0 timeouts 0
2025-04-24 15:17:26 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36099/37154
2025-04-24 15:17:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:26 [info] currentZPosition:0.0850
2025-04-24 15:17:28 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:28 [debug] Diagnostics for board 50:
2025-04-24 15:17:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:33 ago, cause: software
2025-04-24 15:17:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:28 [debug] Moves scheduled 38498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 69, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1101109489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:28 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17977, writes 0 timeouts 0
2025-04-24 15:17:28 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36054/37081
2025-04-24 15:17:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:28 [info] currentZPosition:0.0847
2025-04-24 15:17:29 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:29 [debug] Diagnostics for board 50:
2025-04-24 15:17:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:19:34 ago, cause: software
2025-04-24 15:17:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:29 [debug] Moves scheduled 38502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1100074076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:29 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17368, writes 0 timeouts 0
2025-04-24 15:17:29 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36105/37147
2025-04-24 15:17:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:29 [info] currentZPosition:0.0838
2025-04-24 15:17:30 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:30 [debug] Diagnostics for board 50:
2025-04-24 15:17:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:35 ago, cause: software
2025-04-24 15:17:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:30 [debug] Moves scheduled 38506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1099043749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:17:30 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17305, writes 0 timeouts 0
2025-04-24 15:17:30 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36055/37159
2025-04-24 15:17:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:31 [info] currentZPosition:0.0852
2025-04-24 15:17:31 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:32 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:32 [debug] Diagnostics for board 50:
2025-04-24 15:17:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:37 ago, cause: software
2025-04-24 15:17:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:32 [debug] Moves scheduled 38512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1097795612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:17:32 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20930, writes 0 timeouts 0
2025-04-24 15:17:32 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36065/37115
2025-04-24 15:17:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9032, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:32 [info] currentZPosition:0.0855
2025-04-24 15:17:33 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:34 [debug] Stopped at height 0.086 mm
2025-04-24 15:17:34 [debug] Diagnostics for board 50:
2025-04-24 15:17:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:39 ago, cause: software
2025-04-24 15:17:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:34 [debug] Moves scheduled 38518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1096508926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:17:34 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21577, writes 0 timeouts 0
2025-04-24 15:17:34 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36021/37123
2025-04-24 15:17:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:34 [info] currentZPosition:0.0856
2025-04-24 15:17:35 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:35 [debug] Diagnostics for board 50:
2025-04-24 15:17:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:40 ago, cause: software
2025-04-24 15:17:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:35 [debug] Moves scheduled 38522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1095482360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:17:35 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17242, writes 0 timeouts 0
2025-04-24 15:17:35 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36139/37155
2025-04-24 15:17:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9036, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:35 [info] currentZPosition:0.0855
2025-04-24 15:17:37 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:37 [debug] Diagnostics for board 50:
2025-04-24 15:17:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:42 ago, cause: software
2025-04-24 15:17:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:37 [debug] Moves scheduled 38526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1094424697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:37 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17733, writes 0 timeouts 0
2025-04-24 15:17:37 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36098/37117
2025-04-24 15:17:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:37 [info] currentZPosition:0.0855
2025-04-24 15:17:38 [debug] Stopped at height 0.086 mm
2025-04-24 15:17:38 [debug] Diagnostics for board 50:
2025-04-24 15:17:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:43 ago, cause: software
2025-04-24 15:17:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:38 [debug] Moves scheduled 38530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1093406300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:38 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17089, writes 0 timeouts 0
2025-04-24 15:17:38 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36098/37127
2025-04-24 15:17:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:38 [info] currentZPosition:0.0856
2025-04-24 15:17:39 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:39 [debug] Diagnostics for board 50:
2025-04-24 15:17:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:44 ago, cause: software
2025-04-24 15:17:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:39 [debug] Moves scheduled 38534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1092316424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:17:39 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18293, writes 0 timeouts 0
2025-04-24 15:17:39 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35992/37163
2025-04-24 15:17:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:40 [info] currentZPosition:0.0839
2025-04-24 15:17:40 [debug] Stopped at height 0.083 mm
2025-04-24 15:17:41 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:41 [debug] Diagnostics for board 50:
2025-04-24 15:17:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:46 ago, cause: software
2025-04-24 15:17:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:41 [debug] Moves scheduled 38540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1091074679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-24 15:17:41 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20825, writes 0 timeouts 0
2025-04-24 15:17:41 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36086/37159
2025-04-24 15:17:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:41 [info] currentZPosition:0.0853
2025-04-24 15:17:42 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:43 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:43 [debug] Diagnostics for board 50:
2025-04-24 15:17:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:48 ago, cause: software
2025-04-24 15:17:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:43 [debug] Moves scheduled 38546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1089783728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:17:43 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21676, writes 0 timeouts 0
2025-04-24 15:17:43 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36046/37122
2025-04-24 15:17:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:43 [info] currentZPosition:0.0852
2025-04-24 15:17:44 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:44 [debug] Diagnostics for board 50:
2025-04-24 15:17:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:49 ago, cause: software
2025-04-24 15:17:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:44 [debug] Moves scheduled 38550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1088757610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:17:44 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17232, writes 0 timeouts 0
2025-04-24 15:17:44 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36067/37118
2025-04-24 15:17:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:44 [info] currentZPosition:0.0850
2025-04-24 15:17:46 [debug] Stopped at height 0.087 mm
2025-04-24 15:17:46 [debug] Diagnostics for board 50:
2025-04-24 15:17:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:19:50 ago, cause: software
2025-04-24 15:17:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:46 [debug] Moves scheduled 38554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1087728879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:17:46 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17243, writes 0 timeouts 0
2025-04-24 15:17:46 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35699/37119
2025-04-24 15:17:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9024, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:46 [info] currentZPosition:0.0866
2025-04-24 15:17:46 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:47 [debug] Stopped at height 0.086 mm
2025-04-24 15:17:47 [debug] Diagnostics for board 50:
2025-04-24 15:17:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:19:52 ago, cause: software
2025-04-24 15:17:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:47 [debug] Moves scheduled 38560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=486, max=15000
Sync err accum 74, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1086463331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:17:47 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21184, writes 11 timeouts 1
2025-04-24 15:17:47 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36148/37145
2025-04-24 15:17:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:47 [info] currentZPosition:0.0860
2025-04-24 15:17:49 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:49 [debug] Diagnostics for board 50:
2025-04-24 15:17:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:54 ago, cause: software
2025-04-24 15:17:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:49 [debug] Moves scheduled 38564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8720, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1085385516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:17:49 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18107, writes 0 timeouts 0
2025-04-24 15:17:49 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36009/37151
2025-04-24 15:17:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:49 [info] currentZPosition:0.0849
2025-04-24 15:17:50 [debug] Stopped at height 0.086 mm
2025-04-24 15:17:50 [debug] Diagnostics for board 50:
2025-04-24 15:17:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:19:55 ago, cause: software
2025-04-24 15:17:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:50 [debug] Moves scheduled 38568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1084387298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:50 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16738, writes 0 timeouts 0
2025-04-24 15:17:50 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36103/37123
2025-04-24 15:17:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9045, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:50 [info] currentZPosition:0.0861
2025-04-24 15:17:52 [debug] Stopped at height 0.082 mm
2025-04-24 15:17:52 [debug] Diagnostics for board 50:
2025-04-24 15:17:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:56 ago, cause: software
2025-04-24 15:17:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:52 [debug] Moves scheduled 38572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1083251608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:52 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19058, writes 0 timeouts 0
2025-04-24 15:17:52 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36047/37136
2025-04-24 15:17:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:52 [info] currentZPosition:0.0817
2025-04-24 15:17:52 [debug] Stopped at height 0.081 mm
2025-04-24 15:17:53 [debug] Stopped at height 0.083 mm
2025-04-24 15:17:53 [debug] Diagnostics for board 50:
2025-04-24 15:17:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:19:58 ago, cause: software
2025-04-24 15:17:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:53 [debug] Moves scheduled 38578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 76, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1082017746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:17:53 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20699, writes 0 timeouts 0
2025-04-24 15:17:53 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36228/37161
2025-04-24 15:17:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:53 [info] currentZPosition:0.0835
2025-04-24 15:17:54 [debug] Stopped at height 0.084 mm
2025-04-24 15:17:55 [debug] Stopped at height 0.086 mm
2025-04-24 15:17:55 [debug] Diagnostics for board 50:
2025-04-24 15:17:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:00 ago, cause: software
2025-04-24 15:17:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:55 [debug] Moves scheduled 38584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1080777448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:17:55 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20821, writes 0 timeouts 0
2025-04-24 15:17:55 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36013/37161
2025-04-24 15:17:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9047, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:55 [info] currentZPosition:0.0860
2025-04-24 15:17:55 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:57 [debug] Stopped at height 0.085 mm
2025-04-24 15:17:57 [debug] Diagnostics for board 50:
2025-04-24 15:17:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:01 ago, cause: software
2025-04-24 15:17:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:57 [debug] Moves scheduled 38590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1079491373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:17:57 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21600, writes 0 timeouts 0
2025-04-24 15:17:57 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 36370/37155
2025-04-24 15:17:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:57 [info] currentZPosition:0.0848
2025-04-24 15:17:58 [debug] Stopped at height 0.087 mm
2025-04-24 15:17:58 [debug] Diagnostics for board 50:
2025-04-24 15:17:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:17:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:03 ago, cause: software
2025-04-24 15:17:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:17:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:17:58 [debug] Moves scheduled 38594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 119, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1078468051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:17:58 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17148, writes 0 timeouts 0
2025-04-24 15:17:58 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36003/37160
2025-04-24 15:17:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:17:58 [info] currentZPosition:0.0866
2025-04-24 15:17:58 [debug] Stopped at height 0.084 mm
2025-04-24 15:18:00 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:00 [debug] Diagnostics for board 50:
2025-04-24 15:18:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:05 ago, cause: software
2025-04-24 15:18:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:00 [debug] Moves scheduled 38600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 122, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1077188940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:00 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21470, writes 0 timeouts 0
2025-04-24 15:18:00 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36372/37163
2025-04-24 15:18:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:00 [info] currentZPosition:0.0852
2025-04-24 15:18:01 [debug] Stopped at height 0.084 mm
2025-04-24 15:18:01 [debug] Diagnostics for board 50:
2025-04-24 15:18:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:06 ago, cause: software
2025-04-24 15:18:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:01 [debug] Moves scheduled 38604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 127, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1076111479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:01 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18104, writes 0 timeouts 0
2025-04-24 15:18:01 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36019/37097
2025-04-24 15:18:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:01 [info] currentZPosition:0.0840
2025-04-24 15:18:02 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:02 [debug] Diagnostics for board 50:
2025-04-24 15:18:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:07 ago, cause: software
2025-04-24 15:18:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:02 [debug] Moves scheduled 38608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15306
Sync err accum 126, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1075125833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:02 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16523, writes 0 timeouts 0
2025-04-24 15:18:02 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36342/37112
2025-04-24 15:18:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:02 [info] currentZPosition:0.0861
2025-04-24 15:18:03 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:04 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:04 [debug] Diagnostics for board 50:
2025-04-24 15:18:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:09 ago, cause: software
2025-04-24 15:18:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:04 [debug] Moves scheduled 38614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 123, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1073816989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:04 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21961, writes 0 timeouts 0
2025-04-24 15:18:04 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36059/37124
2025-04-24 15:18:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:04 [info] currentZPosition:0.0853
2025-04-24 15:18:05 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:05 [debug] Diagnostics for board 50:
2025-04-24 15:18:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:10 ago, cause: software
2025-04-24 15:18:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:05 [debug] Moves scheduled 38618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 115, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1072796371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, ma
2025-04-24 15:18:05 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17140, writes 0 timeouts 0
2025-04-24 15:18:05 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36326/37128
2025-04-24 15:18:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:06 [info] currentZPosition:0.0855
2025-04-24 15:18:07 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:07 [debug] Diagnostics for board 50:
2025-04-24 15:18:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:12 ago, cause: software
2025-04-24 15:18:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:07 [debug] Moves scheduled 38622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1071745427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, ma
2025-04-24 15:18:07 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17612, writes 0 timeouts 0
2025-04-24 15:18:07 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36063/37154
2025-04-24 15:18:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:07 [info] currentZPosition:0.0859
2025-04-24 15:18:08 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:08 [debug] Diagnostics for board 50:
2025-04-24 15:18:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:20:13 ago, cause: software
2025-04-24 15:18:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:08 [debug] Moves scheduled 38626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1070710969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:08 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17387, writes 0 timeouts 0
2025-04-24 15:18:08 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36355/37141
2025-04-24 15:18:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:08 [info] currentZPosition:0.0856
2025-04-24 15:18:10 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:10 [debug] Diagnostics for board 50:
2025-04-24 15:18:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:15 ago, cause: software
2025-04-24 15:18:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:10 [debug] Moves scheduled 38630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8620, max=15306
Sync err accum 81, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 1069660505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-24 15:18:10 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17651, writes 0 timeouts 0
2025-04-24 15:18:10 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36058/37091
2025-04-24 15:18:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:10 [info] currentZPosition:0.0860
2025-04-24 15:18:11 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:11 [debug] Diagnostics for board 50:
2025-04-24 15:18:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:16 ago, cause: software
2025-04-24 15:18:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:11 [debug] Moves scheduled 38634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1068634987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:18:11 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17145, writes 0 timeouts 0
2025-04-24 15:18:11 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36351/37139
2025-04-24 15:18:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:11 [info] currentZPosition:0.0861
2025-04-24 15:18:12 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:12 [debug] Diagnostics for board 50:
2025-04-24 15:18:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:17 ago, cause: software
2025-04-24 15:18:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:12 [debug] Moves scheduled 38638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -3/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1067561921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:18:12 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18007, writes 0 timeouts 0
2025-04-24 15:18:12 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36061/37126
2025-04-24 15:18:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:13 [info] currentZPosition:0.0853
2025-04-24 15:18:14 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:14 [debug] Diagnostics for board 50:
2025-04-24 15:18:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:20:19 ago, cause: software
2025-04-24 15:18:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:14 [debug] Moves scheduled 38642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1066557576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:18:14 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16859, writes 0 timeouts 0
2025-04-24 15:18:14 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36340/37141
2025-04-24 15:18:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:14 [info] currentZPosition:0.0864
2025-04-24 15:18:15 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:15 [debug] Diagnostics for board 50:
2025-04-24 15:18:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:20:20 ago, cause: software
2025-04-24 15:18:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:15 [debug] Moves scheduled 38646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1065502599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:18:15 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17710, writes 0 timeouts 0
2025-04-24 15:18:15 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36020/37143
2025-04-24 15:18:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:15 [info] currentZPosition:0.0865
2025-04-24 15:18:17 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:17 [debug] Diagnostics for board 50:
2025-04-24 15:18:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:21 ago, cause: software
2025-04-24 15:18:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:17 [debug] Moves scheduled 38650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1064479403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:17 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17165, writes 0 timeouts 0
2025-04-24 15:18:17 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36348/37167
2025-04-24 15:18:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9053, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:17 [info] currentZPosition:0.0866
2025-04-24 15:18:18 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:18 [debug] Diagnostics for board 50:
2025-04-24 15:18:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:23 ago, cause: software
2025-04-24 15:18:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:18 [debug] Moves scheduled 38654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 112, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1063399721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:18 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18116, writes 0 timeouts 0
2025-04-24 15:18:18 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36083/37158
2025-04-24 15:18:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:18 [info] currentZPosition:0.0854
2025-04-24 15:18:19 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:19 [debug] Diagnostics for board 50:
2025-04-24 15:18:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:24 ago, cause: software
2025-04-24 15:18:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:19 [debug] Moves scheduled 38658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 117, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1062395594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:19 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16850, writes 0 timeouts 0
2025-04-24 15:18:19 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36377/37118
2025-04-24 15:18:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:19 [info] currentZPosition:0.0864
2025-04-24 15:18:21 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:21 [debug] Diagnostics for board 50:
2025-04-24 15:18:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:26 ago, cause: software
2025-04-24 15:18:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:21 [debug] Moves scheduled 38662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 122, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1061310721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:18:21 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18195, writes 0 timeouts 0
2025-04-24 15:18:21 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36005/37111
2025-04-24 15:18:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:21 [info] currentZPosition:0.0849
2025-04-24 15:18:21 [debug] Stopped at height 0.084 mm
2025-04-24 15:18:22 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:22 [debug] Diagnostics for board 50:
2025-04-24 15:18:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:20:27 ago, cause: software
2025-04-24 15:18:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:22 [debug] Moves scheduled 38668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 125, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1060047649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:22 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21210, writes 0 timeouts 0
2025-04-24 15:18:22 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36345/37157
2025-04-24 15:18:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:23 [info] currentZPosition:0.0851
2025-04-24 15:18:24 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:24 [debug] Diagnostics for board 50:
2025-04-24 15:18:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:29 ago, cause: software
2025-04-24 15:18:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:24 [debug] Moves scheduled 38672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 123, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1059004067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:24 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17510, writes 0 timeouts 0
2025-04-24 15:18:24 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36069/37159
2025-04-24 15:18:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9076, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:24 [info] currentZPosition:0.0857
2025-04-24 15:18:25 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:25 [debug] Diagnostics for board 50:
2025-04-24 15:18:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:30 ago, cause: software
2025-04-24 15:18:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:25 [debug] Moves scheduled 38676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 116, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1057982370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, ma
2025-04-24 15:18:25 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17135, writes 0 timeouts 0
2025-04-24 15:18:25 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36327/37121
2025-04-24 15:18:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:25 [info] currentZPosition:0.0863
2025-04-24 15:18:27 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:27 [debug] Diagnostics for board 50:
2025-04-24 15:18:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:32 ago, cause: software
2025-04-24 15:18:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:27 [debug] Moves scheduled 38680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1056922945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:18:27 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17760, writes 0 timeouts 0
2025-04-24 15:18:27 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36039/37114
2025-04-24 15:18:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:27 [info] currentZPosition:0.0862
2025-04-24 15:18:28 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:28 [debug] Diagnostics for board 50:
2025-04-24 15:18:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:20:33 ago, cause: software
2025-04-24 15:18:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:28 [debug] Moves scheduled 38684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1055881854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:28 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17484, writes 0 timeouts 0
2025-04-24 15:18:28 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36310/37118
2025-04-24 15:18:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:28 [info] currentZPosition:0.0852
2025-04-24 15:18:29 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:29 [debug] Diagnostics for board 50:
2025-04-24 15:18:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:34 ago, cause: software
2025-04-24 15:18:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:29 [debug] Moves scheduled 38688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1054847275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:29 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17355, writes 0 timeouts 0
2025-04-24 15:18:29 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36093/37132
2025-04-24 15:18:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:30 [info] currentZPosition:0.0865
2025-04-24 15:18:30 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:31 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:31 [debug] Diagnostics for board 50:
2025-04-24 15:18:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:36 ago, cause: software
2025-04-24 15:18:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:31 [debug] Moves scheduled 38694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1053562214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:31 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21564, writes 0 timeouts 0
2025-04-24 15:18:31 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36327/37163
2025-04-24 15:18:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:31 [info] currentZPosition:0.0849
2025-04-24 15:18:33 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:33 [debug] Diagnostics for board 50:
2025-04-24 15:18:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:37 ago, cause: software
2025-04-24 15:18:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:33 [debug] Moves scheduled 38698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1052517613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:18:33 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17537, writes 0 timeouts 0
2025-04-24 15:18:33 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36032/37107
2025-04-24 15:18:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:33 [info] currentZPosition:0.0857
2025-04-24 15:18:34 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:34 [debug] Diagnostics for board 50:
2025-04-24 15:18:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:39 ago, cause: software
2025-04-24 15:18:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:34 [debug] Moves scheduled 38702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1051521264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:18:34 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16717, writes 0 timeouts 0
2025-04-24 15:18:34 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36340/37113
2025-04-24 15:18:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9001, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:34 [info] currentZPosition:0.0873
2025-04-24 15:18:34 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:36 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:36 [debug] Diagnostics for board 50:
2025-04-24 15:18:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:40 ago, cause: software
2025-04-24 15:18:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:36 [debug] Moves scheduled 38708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1050202507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:18:36 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22123, writes 0 timeouts 0
2025-04-24 15:18:36 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36054/37138
2025-04-24 15:18:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:36 [info] currentZPosition:0.0857
2025-04-24 15:18:37 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:37 [debug] Diagnostics for board 50:
2025-04-24 15:18:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:20:42 ago, cause: software
2025-04-24 15:18:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:37 [debug] Moves scheduled 38712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1049176367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:18:37 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17225, writes 0 timeouts 0
2025-04-24 15:18:37 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36303/37141
2025-04-24 15:18:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:37 [info] currentZPosition:0.0856
2025-04-24 15:18:38 [debug] Stopped at height 0.088 mm
2025-04-24 15:18:38 [debug] Diagnostics for board 50:
2025-04-24 15:18:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:43 ago, cause: software
2025-04-24 15:18:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:38 [debug] Moves scheduled 38716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1048159163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:18:38 [debug] Driver 0: pos -3500, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17066, writes 0 timeouts 0
2025-04-24 15:18:38 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36023/37069
2025-04-24 15:18:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9008, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:38 [info] currentZPosition:0.0878
2025-04-24 15:18:39 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:40 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:40 [debug] Diagnostics for board 50:
2025-04-24 15:18:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:45 ago, cause: software
2025-04-24 15:18:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:40 [debug] Moves scheduled 38722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 89, peak jitter 0/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1046853141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:18:40 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21920, writes 0 timeouts 0
2025-04-24 15:18:40 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36391/37168
2025-04-24 15:18:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:40 [info] currentZPosition:0.0852
2025-04-24 15:18:41 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:41 [debug] Diagnostics for board 50:
2025-04-24 15:18:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:46 ago, cause: software
2025-04-24 15:18:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:41 [debug] Moves scheduled 38726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=68, frequency (Hz): min=9740, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1045830332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:18:41 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17158, writes 0 timeouts 0
2025-04-24 15:18:41 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36020/37129
2025-04-24 15:18:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9059, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:42 [info] currentZPosition:0.0871
2025-04-24 15:18:42 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:43 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:43 [debug] Diagnostics for board 50:
2025-04-24 15:18:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:48 ago, cause: software
2025-04-24 15:18:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:43 [debug] Moves scheduled 38732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1044569829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:43 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21142, writes 0 timeouts 0
2025-04-24 15:18:43 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36336/37113
2025-04-24 15:18:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 825
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:43 [info] currentZPosition:0.0871
2025-04-24 15:18:45 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:45 [debug] Diagnostics for board 50:
2025-04-24 15:18:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:49 ago, cause: software
2025-04-24 15:18:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:45 [debug] Moves scheduled 38736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1043503543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:18:45 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17892, writes 0 timeouts 0
2025-04-24 15:18:45 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36031/37170
2025-04-24 15:18:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:45 [info] currentZPosition:0.0865
2025-04-24 15:18:46 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:46 [debug] Diagnostics for board 50:
2025-04-24 15:18:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:51 ago, cause: software
2025-04-24 15:18:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:46 [debug] Moves scheduled 38740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1042494568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:46 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16926, writes 0 timeouts 0
2025-04-24 15:18:46 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36190/37114
2025-04-24 15:18:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:46 [info] currentZPosition:0.0871
2025-04-24 15:18:47 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:47 [debug] Diagnostics for board 50:
2025-04-24 15:18:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:52 ago, cause: software
2025-04-24 15:18:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:47 [debug] Moves scheduled 38744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1041394520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:18:47 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18449, writes 0 timeouts 0
2025-04-24 15:18:47 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36040/37144
2025-04-24 15:18:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:47 [info] currentZPosition:0.0849
2025-04-24 15:18:48 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:49 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:49 [debug] Diagnostics for board 50:
2025-04-24 15:18:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:54 ago, cause: software
2025-04-24 15:18:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:49 [debug] Moves scheduled 38750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1040171482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:18:49 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20556, writes 0 timeouts 0
2025-04-24 15:18:49 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36163/37121
2025-04-24 15:18:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:49 [info] currentZPosition:0.0864
2025-04-24 15:18:50 [debug] Stopped at height 0.085 mm
2025-04-24 15:18:50 [debug] Diagnostics for board 50:
2025-04-24 15:18:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:55 ago, cause: software
2025-04-24 15:18:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:50 [debug] Moves scheduled 38754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 92, peak jitter 1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1039094963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:18:50 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18032, writes 0 timeouts 0
2025-04-24 15:18:50 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36038/37114
2025-04-24 15:18:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:51 [info] currentZPosition:0.0854
2025-04-24 15:18:52 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:52 [debug] Diagnostics for board 50:
2025-04-24 15:18:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:20:57 ago, cause: software
2025-04-24 15:18:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:52 [debug] Moves scheduled 38758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1038079310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:18:52 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17038, writes 0 timeouts 0
2025-04-24 15:18:52 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36067/37121
2025-04-24 15:18:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:52 [info] currentZPosition:0.0858
2025-04-24 15:18:53 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:53 [debug] Diagnostics for board 50:
2025-04-24 15:18:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:20:58 ago, cause: software
2025-04-24 15:18:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:53 [debug] Moves scheduled 38762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1037021825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:18:53 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17757, writes 0 timeouts 0
2025-04-24 15:18:53 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36095/37085
2025-04-24 15:18:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:53 [info] currentZPosition:0.0857
2025-04-24 15:18:55 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:55 [debug] Diagnostics for board 50:
2025-04-24 15:18:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:20:59 ago, cause: software
2025-04-24 15:18:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:55 [debug] Moves scheduled 38766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1036012073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:18:55 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16943, writes 0 timeouts 0
2025-04-24 15:18:55 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36140/37073
2025-04-24 15:18:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:55 [info] currentZPosition:0.0863
2025-04-24 15:18:56 [debug] Stopped at height 0.086 mm
2025-04-24 15:18:56 [debug] Diagnostics for board 50:
2025-04-24 15:18:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:01 ago, cause: software
2025-04-24 15:18:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:56 [debug] Moves scheduled 38770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1034942102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:18:56 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17957, writes 0 timeouts 0
2025-04-24 15:18:56 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36052/37135
2025-04-24 15:18:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:56 [info] currentZPosition:0.0857
2025-04-24 15:18:57 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:57 [debug] Diagnostics for board 50:
2025-04-24 15:18:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:02 ago, cause: software
2025-04-24 15:18:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:57 [debug] Moves scheduled 38774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1033937694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:18:57 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16879, writes 0 timeouts 0
2025-04-24 15:18:57 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36063/37119
2025-04-24 15:18:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9083, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:57 [info] currentZPosition:0.0866
2025-04-24 15:18:59 [debug] Stopped at height 0.087 mm
2025-04-24 15:18:59 [debug] Diagnostics for board 50:
2025-04-24 15:18:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:18:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:21:04 ago, cause: software
2025-04-24 15:18:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:18:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:18:59 [debug] Moves scheduled 38778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1032877300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:18:59 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17790, writes 0 timeouts 0
2025-04-24 15:18:59 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36024/37149
2025-04-24 15:18:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:18:59 [info] currentZPosition:0.0866
2025-04-24 15:19:00 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:00 [debug] Diagnostics for board 50:
2025-04-24 15:19:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:05 ago, cause: software
2025-04-24 15:19:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:00 [debug] Moves scheduled 38782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1031841889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:19:00 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17339, writes 0 timeouts 0
2025-04-24 15:19:00 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36142/37162
2025-04-24 15:19:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:00 [info] currentZPosition:0.0860
2025-04-24 15:19:01 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:01 [debug] Diagnostics for board 50:
2025-04-24 15:19:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:21:06 ago, cause: software
2025-04-24 15:19:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:01 [debug] Moves scheduled 38786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8620, max=15000
Sync err accum 60, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1030785388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:19:01 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17731, writes 0 timeouts 0
2025-04-24 15:19:01 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 439, adv 36007/37098
2025-04-24 15:19:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:02 [info] currentZPosition:0.0860
2025-04-24 15:19:03 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:03 [debug] Diagnostics for board 50:
2025-04-24 15:19:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:21:08 ago, cause: software
2025-04-24 15:19:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:03 [debug] Moves scheduled 38790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 74, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1029787815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:19:03 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16775, writes 0 timeouts 0
2025-04-24 15:19:03 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36114/37117
2025-04-24 15:19:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:03 [info] currentZPosition:0.0873
2025-04-24 15:19:03 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:05 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:05 [debug] Diagnostics for board 50:
2025-04-24 15:19:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:09 ago, cause: software
2025-04-24 15:19:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:05 [debug] Moves scheduled 38796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15306
Sync err accum 90, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1028468945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:19:05 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22081, writes 0 timeouts 0
2025-04-24 15:19:05 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36053/37127
2025-04-24 15:19:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:05 [info] currentZPosition:0.0859
2025-04-24 15:19:06 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:06 [debug] Diagnostics for board 50:
2025-04-24 15:19:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:11 ago, cause: software
2025-04-24 15:19:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:06 [debug] Moves scheduled 38800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1027445980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:19:06 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17182, writes 0 timeouts 0
2025-04-24 15:19:06 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35974/37134
2025-04-24 15:19:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:06 [info] currentZPosition:0.0861
2025-04-24 15:19:07 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:07 [debug] Diagnostics for board 50:
2025-04-24 15:19:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:12 ago, cause: software
2025-04-24 15:19:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:07 [debug] Moves scheduled 38804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1026386702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:19:07 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17797, writes 0 timeouts 0
2025-04-24 15:19:07 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36066/37122
2025-04-24 15:19:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:07 [info] currentZPosition:0.0861
2025-04-24 15:19:09 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:09 [debug] Diagnostics for board 50:
2025-04-24 15:19:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:14 ago, cause: software
2025-04-24 15:19:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:09 [debug] Moves scheduled 38808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1025374811 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:19:09 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16946, writes 0 timeouts 0
2025-04-24 15:19:09 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36106/37142
2025-04-24 15:19:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:09 [info] currentZPosition:0.0867
2025-04-24 15:19:10 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:10 [debug] Diagnostics for board 50:
2025-04-24 15:19:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:15 ago, cause: software
2025-04-24 15:19:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:10 [debug] Moves scheduled 38812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1024327192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:19:10 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17578, writes 0 timeouts 0
2025-04-24 15:19:10 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36083/37162
2025-04-24 15:19:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:10 [info] currentZPosition:0.0872
2025-04-24 15:19:11 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:11 [debug] Diagnostics for board 50:
2025-04-24 15:19:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:21:16 ago, cause: software
2025-04-24 15:19:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:11 [debug] Moves scheduled 38816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1023289527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:19:11 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17448, writes 0 timeouts 0
2025-04-24 15:19:11 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36082/37165
2025-04-24 15:19:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:12 [info] currentZPosition:0.0864
2025-04-24 15:19:13 [debug] Stopped at height 0.088 mm
2025-04-24 15:19:13 [debug] Diagnostics for board 50:
2025-04-24 15:19:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:18 ago, cause: software
2025-04-24 15:19:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:13 [debug] Moves scheduled 38820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 110, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1022253967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:19:13 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17345, writes 0 timeouts 0
2025-04-24 15:19:13 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36081/37117
2025-04-24 15:19:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:13 [info] currentZPosition:0.0876
2025-04-24 15:19:14 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:14 [debug] Diagnostics for board 50:
2025-04-24 15:19:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:19 ago, cause: software
2025-04-24 15:19:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:14 [debug] Moves scheduled 38824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1021203916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:19:14 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17623, writes 0 timeouts 0
2025-04-24 15:19:14 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36083/37164
2025-04-24 15:19:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:14 [info] currentZPosition:0.0862
2025-04-24 15:19:15 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:16 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:16 [debug] Diagnostics for board 50:
2025-04-24 15:19:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:21 ago, cause: software
2025-04-24 15:19:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:16 [debug] Moves scheduled 38830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 93, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1019934632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:19:16 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21327, writes 0 timeouts 0
2025-04-24 15:19:16 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36064/37120
2025-04-24 15:19:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:16 [info] currentZPosition:0.0874
2025-04-24 15:19:16 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:18 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:18 [debug] Diagnostics for board 50:
2025-04-24 15:19:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:23 ago, cause: software
2025-04-24 15:19:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:18 [debug] Moves scheduled 38836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1018654051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:19:18 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21461, writes 0 timeouts 0
2025-04-24 15:19:18 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36114/37142
2025-04-24 15:19:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:18 [info] currentZPosition:0.0863
2025-04-24 15:19:19 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:19 [debug] Diagnostics for board 50:
2025-04-24 15:19:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:24 ago, cause: software
2025-04-24 15:19:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:19 [debug] Moves scheduled 38840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1017615578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:19:19 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17427, writes 0 timeouts 0
2025-04-24 15:19:19 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36036/37150
2025-04-24 15:19:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:19 [info] currentZPosition:0.0875
2025-04-24 15:19:20 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:20 [debug] Diagnostics for board 50:
2025-04-24 15:19:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:21:25 ago, cause: software
2025-04-24 15:19:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:20 [debug] Moves scheduled 38844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1016574394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:19:20 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17504, writes 0 timeouts 0
2025-04-24 15:19:20 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36125/37102
2025-04-24 15:19:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:21 [info] currentZPosition:0.0864
2025-04-24 15:19:22 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:22 [debug] Diagnostics for board 50:
2025-04-24 15:19:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:21:27 ago, cause: software
2025-04-24 15:19:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:22 [debug] Moves scheduled 38848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1015530001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:19:22 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17511, writes 0 timeouts 0
2025-04-24 15:19:22 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36021/37140
2025-04-24 15:19:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:22 [info] currentZPosition:0.0872
2025-04-24 15:19:23 [debug] Stopped at height 0.088 mm
2025-04-24 15:19:23 [debug] Diagnostics for board 50:
2025-04-24 15:19:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:28 ago, cause: software
2025-04-24 15:19:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:23 [debug] Moves scheduled 38852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 88, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1014518130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:19:23 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16961, writes 0 timeouts 0
2025-04-24 15:19:23 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36079/37164
2025-04-24 15:19:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9033, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:23 [info] currentZPosition:0.0878
2025-04-24 15:19:25 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:25 [debug] Diagnostics for board 50:
2025-04-24 15:19:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:30 ago, cause: software
2025-04-24 15:19:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:25 [debug] Moves scheduled 38856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1013427920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:19:25 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18298, writes 0 timeouts 0
2025-04-24 15:19:25 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36101/37124
2025-04-24 15:19:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:25 [info] currentZPosition:0.0861
2025-04-24 15:19:25 [debug] Stopped at height 0.085 mm
2025-04-24 15:19:26 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:26 [debug] Diagnostics for board 50:
2025-04-24 15:19:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:31 ago, cause: software
2025-04-24 15:19:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:26 [debug] Moves scheduled 38862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1012171133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:19:26 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21088, writes 0 timeouts 0
2025-04-24 15:19:26 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36126/37127
2025-04-24 15:19:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:26 [info] currentZPosition:0.0865
2025-04-24 15:19:28 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:28 [debug] Diagnostics for board 50:
2025-04-24 15:19:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:33 ago, cause: software
2025-04-24 15:19:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:28 [debug] Moves scheduled 38866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 100, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1011130036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max
2025-04-24 15:19:28 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17469, writes 0 timeouts 0
2025-04-24 15:19:28 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36039/37091
2025-04-24 15:19:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:28 [info] currentZPosition:0.0875
2025-04-24 15:19:29 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:29 [debug] Diagnostics for board 50:
2025-04-24 15:19:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:34 ago, cause: software
2025-04-24 15:19:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:29 [debug] Moves scheduled 38870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 97, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1010102442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:19:29 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17238, writes 0 timeouts 0
2025-04-24 15:19:29 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36082/37172
2025-04-24 15:19:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9061, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:29 [info] currentZPosition:0.0872
2025-04-24 15:19:30 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:30 [debug] Diagnostics for board 50:
2025-04-24 15:19:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:35 ago, cause: software
2025-04-24 15:19:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:30 [debug] Moves scheduled 38874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 1009047638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:19:30 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17709, writes 0 timeouts 0
2025-04-24 15:19:30 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36057/37120
2025-04-24 15:19:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:31 [info] currentZPosition:0.0873
2025-04-24 15:19:32 [debug] Stopped at height 0.085 mm
2025-04-24 15:19:32 [debug] Diagnostics for board 50:
2025-04-24 15:19:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:37 ago, cause: software
2025-04-24 15:19:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:32 [debug] Moves scheduled 38878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1007976639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:19:32 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19805, writes 0 timeouts 0
2025-04-24 15:19:32 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36105/37092
2025-04-24 15:19:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9202, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:32 [info] currentZPosition:0.0848
2025-04-24 15:19:33 [debug] Stopped at height 0.084 mm
2025-04-24 15:19:35 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:35 [debug] Diagnostics for board 50:
2025-04-24 15:19:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:40 ago, cause: software
2025-04-24 15:19:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:35 [debug] Moves scheduled 38884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 65, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1005421637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:19:35 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 41073, writes 0 timeouts 0
2025-04-24 15:19:35 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 67, send timeouts 0, received 31, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36055/37115
2025-04-24 15:19:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:35 [info] currentZPosition:0.0865
2025-04-24 15:19:36 [debug] Stopped at height 0.084 mm
2025-04-24 15:19:37 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:37 [debug] Diagnostics for board 50:
2025-04-24 15:19:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:42 ago, cause: software
2025-04-24 15:19:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:37 [debug] Moves scheduled 38890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1004180422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:19:37 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20827, writes 0 timeouts 0
2025-04-24 15:19:37 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36102/37126
2025-04-24 15:19:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:37 [info] currentZPosition:0.0872
2025-04-24 15:19:37 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:39 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:39 [debug] Diagnostics for board 50:
2025-04-24 15:19:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:44 ago, cause: software
2025-04-24 15:19:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:39 [debug] Moves scheduled 38896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 97, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1002863684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:19:39 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22105, writes 0 timeouts 0
2025-04-24 15:19:39 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36055/37129
2025-04-24 15:19:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:39 [info] currentZPosition:0.0867
2025-04-24 15:19:40 [debug] Stopped at height 0.088 mm
2025-04-24 15:19:40 [debug] Diagnostics for board 50:
2025-04-24 15:19:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:45 ago, cause: software
2025-04-24 15:19:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:40 [debug] Moves scheduled 38900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1001861717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:19:40 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16816, writes 0 timeouts 0
2025-04-24 15:19:40 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36057/37163
2025-04-24 15:19:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:40 [info] currentZPosition:0.0877
2025-04-24 15:19:41 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:41 [debug] Diagnostics for board 50:
2025-04-24 15:19:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:46 ago, cause: software
2025-04-24 15:19:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:41 [debug] Moves scheduled 38904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 114, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1000788328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:19:41 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18010, writes 0 timeouts 0
2025-04-24 15:19:41 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 344, adv 36046/37165
2025-04-24 15:19:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:42 [info] currentZPosition:0.0869
2025-04-24 15:19:43 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:43 [debug] Diagnostics for board 50:
2025-04-24 15:19:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:48 ago, cause: software
2025-04-24 15:19:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:43 [debug] Moves scheduled 38908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 118, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 999773398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:19:43 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17024, writes 0 timeouts 0
2025-04-24 15:19:43 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36056/37164
2025-04-24 15:19:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:43 [info] currentZPosition:0.0873
2025-04-24 15:19:44 [debug] Stopped at height 0.088 mm
2025-04-24 15:19:44 [debug] Diagnostics for board 50:
2025-04-24 15:19:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:49 ago, cause: software
2025-04-24 15:19:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:44 [debug] Moves scheduled 38912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 118, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 998731467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:19:44 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17478, writes 0 timeouts 0
2025-04-24 15:19:44 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36028/37122
2025-04-24 15:19:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:44 [info] currentZPosition:0.0881
2025-04-24 15:19:46 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:46 [debug] Diagnostics for board 50:
2025-04-24 15:19:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:51 ago, cause: software
2025-04-24 15:19:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:46 [debug] Moves scheduled 38916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 118, peak jitter 0/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 997689866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:19:46 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17484, writes 0 timeouts 0
2025-04-24 15:19:46 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36193/37118
2025-04-24 15:19:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:46 [info] currentZPosition:0.0870
2025-04-24 15:19:47 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:47 [debug] Diagnostics for board 50:
2025-04-24 15:19:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:52 ago, cause: software
2025-04-24 15:19:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:47 [debug] Moves scheduled 38920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 115, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 996634091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:19:47 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17711, writes 0 timeouts 0
2025-04-24 15:19:47 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35988/37106
2025-04-24 15:19:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:47 [info] currentZPosition:0.0871
2025-04-24 15:19:48 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:48 [debug] Diagnostics for board 50:
2025-04-24 15:19:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:21:53 ago, cause: software
2025-04-24 15:19:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:48 [debug] Moves scheduled 38924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 995615729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:19:48 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17099, writes 0 timeouts 0
2025-04-24 15:19:48 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36319/37118
2025-04-24 15:19:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:48 [info] currentZPosition:0.0873
2025-04-24 15:19:50 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:50 [debug] Diagnostics for board 50:
2025-04-24 15:19:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:55 ago, cause: software
2025-04-24 15:19:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:50 [debug] Moves scheduled 38928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 100, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 994533190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:19:50 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18145, writes 0 timeouts 0
2025-04-24 15:19:50 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36019/37083
2025-04-24 15:19:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:50 [info] currentZPosition:0.0859
2025-04-24 15:19:50 [debug] Stopped at height 0.085 mm
2025-04-24 15:19:51 [debug] Stopped at height 0.088 mm
2025-04-24 15:19:51 [debug] Diagnostics for board 50:
2025-04-24 15:19:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:56 ago, cause: software
2025-04-24 15:19:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:51 [debug] Moves scheduled 38934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 993298607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:19:51 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20728, writes 0 timeouts 0
2025-04-24 15:19:51 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36328/37094
2025-04-24 15:19:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:52 [info] currentZPosition:0.0876
2025-04-24 15:19:52 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:53 [debug] Stopped at height 0.088 mm
2025-04-24 15:19:53 [debug] Diagnostics for board 50:
2025-04-24 15:19:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:21:58 ago, cause: software
2025-04-24 15:19:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:53 [debug] Moves scheduled 38940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -4/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 992009055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:19:53 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21648, writes 0 timeouts 0
2025-04-24 15:19:53 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36039/37141
2025-04-24 15:19:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:53 [info] currentZPosition:0.0876
2025-04-24 15:19:54 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:55 [debug] Stopped at height 0.086 mm
2025-04-24 15:19:55 [debug] Diagnostics for board 50:
2025-04-24 15:19:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:00 ago, cause: software
2025-04-24 15:19:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:55 [debug] Moves scheduled 38946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 990728544 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:19:55 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21476, writes 0 timeouts 0
2025-04-24 15:19:55 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36304/37105
2025-04-24 15:19:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:55 [info] currentZPosition:0.0861
2025-04-24 15:19:56 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:56 [debug] Diagnostics for board 50:
2025-04-24 15:19:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:01 ago, cause: software
2025-04-24 15:19:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:56 [debug] Moves scheduled 38950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 989691426 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:19:56 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17421, writes 0 timeouts 0
2025-04-24 15:19:56 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37130
2025-04-24 15:19:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:56 [info] currentZPosition:0.0872
2025-04-24 15:19:58 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:58 [debug] Diagnostics for board 50:
2025-04-24 15:19:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:03 ago, cause: software
2025-04-24 15:19:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:58 [debug] Moves scheduled 38954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 0/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 988664444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:19:58 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17225, writes 0 timeouts 0
2025-04-24 15:19:58 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 423, adv 36353/37106
2025-04-24 15:19:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:58 [info] currentZPosition:0.0871
2025-04-24 15:19:59 [debug] Stopped at height 0.087 mm
2025-04-24 15:19:59 [debug] Diagnostics for board 50:
2025-04-24 15:19:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:19:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:22:04 ago, cause: software
2025-04-24 15:19:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:19:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:19:59 [debug] Moves scheduled 38958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 987612791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:19:59 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17646, writes 0 timeouts 0
2025-04-24 15:19:59 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36057/37085
2025-04-24 15:19:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:19:59 [info] currentZPosition:0.0872
2025-04-24 15:20:00 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:00 [debug] Diagnostics for board 50:
2025-04-24 15:20:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:05 ago, cause: software
2025-04-24 15:20:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:00 [debug] Moves scheduled 38962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 986591172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:20:00 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17138, writes 0 timeouts 0
2025-04-24 15:20:00 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36338/37134
2025-04-24 15:20:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:01 [info] currentZPosition:0.0874
2025-04-24 15:20:02 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:02 [debug] Diagnostics for board 50:
2025-04-24 15:20:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:07 ago, cause: software
2025-04-24 15:20:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:02 [debug] Moves scheduled 38966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 985529478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:20:02 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17812, writes 0 timeouts 0
2025-04-24 15:20:02 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36054/37123
2025-04-24 15:20:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:02 [info] currentZPosition:0.0872
2025-04-24 15:20:03 [debug] Stopped at height 0.086 mm
2025-04-24 15:20:03 [debug] Diagnostics for board 50:
2025-04-24 15:20:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:22:08 ago, cause: software
2025-04-24 15:20:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:03 [debug] Moves scheduled 38970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 984492241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:20:03 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17453, writes 0 timeouts 0
2025-04-24 15:20:03 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36325/37110
2025-04-24 15:20:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:03 [info] currentZPosition:0.0864
2025-04-24 15:20:05 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:05 [debug] Diagnostics for board 50:
2025-04-24 15:20:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:10 ago, cause: software
2025-04-24 15:20:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:05 [debug] Moves scheduled 38974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 983444937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:20:05 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17542, writes 0 timeouts 0
2025-04-24 15:20:05 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36027/37115
2025-04-24 15:20:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:05 [info] currentZPosition:0.0871
2025-04-24 15:20:06 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:06 [debug] Diagnostics for board 50:
2025-04-24 15:20:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:11 ago, cause: software
2025-04-24 15:20:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:06 [debug] Moves scheduled 38978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 982413920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:06 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17302, writes 0 timeouts 0
2025-04-24 15:20:06 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36320/37126
2025-04-24 15:20:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:06 [info] currentZPosition:0.0867
2025-04-24 15:20:07 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:07 [debug] Diagnostics for board 50:
2025-04-24 15:20:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:12 ago, cause: software
2025-04-24 15:20:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:07 [debug] Moves scheduled 38982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 0/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 981395786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:07 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17119, writes 0 timeouts 0
2025-04-24 15:20:07 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36011/37117
2025-04-24 15:20:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:07 [info] currentZPosition:0.0889
2025-04-24 15:20:08 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:09 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:09 [debug] Diagnostics for board 50:
2025-04-24 15:20:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:14 ago, cause: software
2025-04-24 15:20:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:09 [debug] Moves scheduled 38988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 980133485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:20:09 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21147, writes 0 timeouts 0
2025-04-24 15:20:09 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36322/37123
2025-04-24 15:20:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9048, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:09 [info] currentZPosition:0.0889
2025-04-24 15:20:10 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:10 [debug] Diagnostics for board 50:
2025-04-24 15:20:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:15 ago, cause: software
2025-04-24 15:20:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:10 [debug] Moves scheduled 38992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 979074200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:20:10 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17790, writes 0 timeouts 0
2025-04-24 15:20:10 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36050/37124
2025-04-24 15:20:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9027, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:11 [info] currentZPosition:0.0887
2025-04-24 15:20:12 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:12 [debug] Diagnostics for board 50:
2025-04-24 15:20:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:17 ago, cause: software
2025-04-24 15:20:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:12 [debug] Moves scheduled 38996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 978044249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:20:12 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17282, writes 0 timeouts 0
2025-04-24 15:20:12 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36344/37160
2025-04-24 15:20:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:12 [info] currentZPosition:0.0884
2025-04-24 15:20:13 [debug] Stopped at height 0.086 mm
2025-04-24 15:20:13 [debug] Diagnostics for board 50:
2025-04-24 15:20:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:22:18 ago, cause: software
2025-04-24 15:20:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:13 [debug] Moves scheduled 39000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 976945470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:13 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18414, writes 0 timeouts 0
2025-04-24 15:20:13 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36026/37150
2025-04-24 15:20:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:13 [info] currentZPosition:0.0861
2025-04-24 15:20:14 [debug] Stopped at height 0.085 mm
2025-04-24 15:20:15 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:15 [debug] Diagnostics for board 50:
2025-04-24 15:20:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:20 ago, cause: software
2025-04-24 15:20:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:15 [debug] Moves scheduled 39006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 975719366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:15 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20572, writes 0 timeouts 0
2025-04-24 15:20:15 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36298/37104
2025-04-24 15:20:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:15 [info] currentZPosition:0.0881
2025-04-24 15:20:15 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:17 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:17 [debug] Diagnostics for board 50:
2025-04-24 15:20:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:22 ago, cause: software
2025-04-24 15:20:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:17 [debug] Moves scheduled 39012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 974410889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:20:17 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21987, writes 0 timeouts 0
2025-04-24 15:20:17 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36023/37148
2025-04-24 15:20:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:17 [info] currentZPosition:0.0870
2025-04-24 15:20:18 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:18 [debug] Diagnostics for board 50:
2025-04-24 15:20:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:22:23 ago, cause: software
2025-04-24 15:20:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:18 [debug] Moves scheduled 39016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 973384205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:18 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17221, writes 0 timeouts 0
2025-04-24 15:20:18 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36318/37145
2025-04-24 15:20:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:18 [info] currentZPosition:0.0869
2025-04-24 15:20:19 [debug] Stopped at height 0.090 mm
2025-04-24 15:20:19 [debug] Diagnostics for board 50:
2025-04-24 15:20:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:24 ago, cause: software
2025-04-24 15:20:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:19 [debug] Moves scheduled 39020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 79, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 972384025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:20:19 [debug] Driver 0: pos -3496, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16781, writes 0 timeouts 0
2025-04-24 15:20:19 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36069/37157
2025-04-24 15:20:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8997, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:19 [info] currentZPosition:0.0899
2025-04-24 15:20:20 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:21 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:21 [debug] Diagnostics for board 50:
2025-04-24 15:20:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:26 ago, cause: software
2025-04-24 15:20:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:21 [debug] Moves scheduled 39026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 971080539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:20:21 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21885, writes 0 timeouts 0
2025-04-24 15:20:21 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36326/37123
2025-04-24 15:20:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:21 [info] currentZPosition:0.0873
2025-04-24 15:20:22 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:22 [debug] Diagnostics for board 50:
2025-04-24 15:20:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:27 ago, cause: software
2025-04-24 15:20:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:22 [debug] Moves scheduled 39030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 970029009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:20:22 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17641, writes 0 timeouts 0
2025-04-24 15:20:22 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36030/37121
2025-04-24 15:20:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:23 [info] currentZPosition:0.0877
2025-04-24 15:20:24 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:24 [debug] Diagnostics for board 50:
2025-04-24 15:20:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:29 ago, cause: software
2025-04-24 15:20:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:24 [debug] Moves scheduled 39034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 969036236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:20:24 [debug] Driver 0: pos -3501, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16658, writes 0 timeouts 0
2025-04-24 15:20:24 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36286/37136
2025-04-24 15:20:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 824
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9040, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:24 [info] currentZPosition:0.0894
2025-04-24 15:20:24 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:26 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:26 [debug] Diagnostics for board 50:
2025-04-24 15:20:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:30 ago, cause: software
2025-04-24 15:20:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:26 [debug] Moves scheduled 39040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 967698608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:26 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22451, writes 0 timeouts 0
2025-04-24 15:20:26 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36006/37124
2025-04-24 15:20:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:26 [info] currentZPosition:0.0869
2025-04-24 15:20:27 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:27 [debug] Diagnostics for board 50:
2025-04-24 15:20:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:32 ago, cause: software
2025-04-24 15:20:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:27 [debug] Moves scheduled 39044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 966702468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:27 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16703, writes 0 timeouts 0
2025-04-24 15:20:27 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36212/37163
2025-04-24 15:20:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:27 [info] currentZPosition:0.0883
2025-04-24 15:20:27 [debug] Stopped at height 0.086 mm
2025-04-24 15:20:29 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:29 [debug] Diagnostics for board 50:
2025-04-24 15:20:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:34 ago, cause: software
2025-04-24 15:20:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:29 [debug] Moves scheduled 39050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8720, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 965396015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:20:29 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21930, writes 0 timeouts 0
2025-04-24 15:20:29 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36068/37105
2025-04-24 15:20:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:29 [info] currentZPosition:0.0874
2025-04-24 15:20:29 [debug] Stopped at height 0.086 mm
2025-04-24 15:20:30 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:30 [debug] Diagnostics for board 50:
2025-04-24 15:20:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:35 ago, cause: software
2025-04-24 15:20:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:30 [debug] Moves scheduled 39056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 964142468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:20:30 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21032, writes 0 timeouts 0
2025-04-24 15:20:30 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36317/37100
2025-04-24 15:20:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:30 [info] currentZPosition:0.0877
2025-04-24 15:20:31 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:32 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:32 [debug] Diagnostics for board 50:
2025-04-24 15:20:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:37 ago, cause: software
2025-04-24 15:20:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:32 [debug] Moves scheduled 39062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 962879479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:20:32 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21203, writes 0 timeouts 0
2025-04-24 15:20:32 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36090/37123
2025-04-24 15:20:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:32 [info] currentZPosition:0.0891
2025-04-24 15:20:32 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:34 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:34 [debug] Diagnostics for board 50:
2025-04-24 15:20:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:39 ago, cause: software
2025-04-24 15:20:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:34 [debug] Moves scheduled 39068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 74, peak jitter -2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 961599931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:20:34 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21455, writes 0 timeouts 0
2025-04-24 15:20:34 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36291/37132
2025-04-24 15:20:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:34 [info] currentZPosition:0.0880
2025-04-24 15:20:35 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:35 [debug] Diagnostics for board 50:
2025-04-24 15:20:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:40 ago, cause: software
2025-04-24 15:20:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:35 [debug] Moves scheduled 39072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15306
Sync err accum 86, peak jitter 2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 960548858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:20:35 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17645, writes 0 timeouts 0
2025-04-24 15:20:35 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36050/37123
2025-04-24 15:20:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:35 [info] currentZPosition:0.0883
2025-04-24 15:20:36 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:36 [debug] Diagnostics for board 50:
2025-04-24 15:20:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:41 ago, cause: software
2025-04-24 15:20:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:36 [debug] Moves scheduled 39076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 959545205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:36 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16854, writes 0 timeouts 0
2025-04-24 15:20:36 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36297/37142
2025-04-24 15:20:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:37 [info] currentZPosition:0.0895
2025-04-24 15:20:38 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:38 [debug] Diagnostics for board 50:
2025-04-24 15:20:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:43 ago, cause: software
2025-04-24 15:20:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:38 [debug] Moves scheduled 39080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 958463422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:20:38 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18129, writes 0 timeouts 0
2025-04-24 15:20:38 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36092/37125
2025-04-24 15:20:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:38 [info] currentZPosition:0.0884
2025-04-24 15:20:39 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:39 [debug] Diagnostics for board 50:
2025-04-24 15:20:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:44 ago, cause: software
2025-04-24 15:20:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:39 [debug] Moves scheduled 39084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 111, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 957443469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:20:39 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17125, writes 0 timeouts 0
2025-04-24 15:20:39 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36348/37142
2025-04-24 15:20:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:39 [info] currentZPosition:0.0885
2025-04-24 15:20:41 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:41 [debug] Diagnostics for board 50:
2025-04-24 15:20:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:46 ago, cause: software
2025-04-24 15:20:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:41 [debug] Moves scheduled 39088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 956371017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:20:41 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17985, writes 0 timeouts 0
2025-04-24 15:20:41 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36049/37117
2025-04-24 15:20:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:41 [info] currentZPosition:0.0877
2025-04-24 15:20:42 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:42 [debug] Diagnostics for board 50:
2025-04-24 15:20:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:47 ago, cause: software
2025-04-24 15:20:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:42 [debug] Moves scheduled 39092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 955381418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:20:42 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16630, writes 0 timeouts 0
2025-04-24 15:20:42 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36227/37116
2025-04-24 15:20:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9035, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:42 [info] currentZPosition:0.0895
2025-04-24 15:20:43 [debug] Stopped at height 0.087 mm
2025-04-24 15:20:44 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:44 [debug] Diagnostics for board 50:
2025-04-24 15:20:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:49 ago, cause: software
2025-04-24 15:20:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:44 [debug] Moves scheduled 39098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 953892494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:20:44 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24994, writes 0 timeouts 0
2025-04-24 15:20:44 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36034/37146
2025-04-24 15:20:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:44 [info] currentZPosition:0.0878
2025-04-24 15:20:45 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:45 [debug] Diagnostics for board 50:
2025-04-24 15:20:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:50 ago, cause: software
2025-04-24 15:20:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:45 [debug] Moves scheduled 39102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=46, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 952895646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:20:45 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16706, writes 0 timeouts 0
2025-04-24 15:20:45 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36061/37072
2025-04-24 15:20:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9049, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:45 [info] currentZPosition:0.0891
2025-04-24 15:20:46 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:47 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:47 [debug] Diagnostics for board 50:
2025-04-24 15:20:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:52 ago, cause: software
2025-04-24 15:20:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:47 [debug] Moves scheduled 39108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 951609038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:20:47 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21601, writes 0 timeouts 0
2025-04-24 15:20:47 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36021/37145
2025-04-24 15:20:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:47 [info] currentZPosition:0.0892
2025-04-24 15:20:48 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:48 [debug] Diagnostics for board 50:
2025-04-24 15:20:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:53 ago, cause: software
2025-04-24 15:20:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:48 [debug] Moves scheduled 39112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 950574853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:20:48 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17338, writes 0 timeouts 0
2025-04-24 15:20:48 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36083/37101
2025-04-24 15:20:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:49 [info] currentZPosition:0.0885
2025-04-24 15:20:50 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:50 [debug] Diagnostics for board 50:
2025-04-24 15:20:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:55 ago, cause: software
2025-04-24 15:20:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:50 [debug] Moves scheduled 39116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 949510084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:20:50 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17878, writes 0 timeouts 0
2025-04-24 15:20:50 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36034/37152
2025-04-24 15:20:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:50 [info] currentZPosition:0.0880
2025-04-24 15:20:51 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:51 [debug] Diagnostics for board 50:
2025-04-24 15:20:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:56 ago, cause: software
2025-04-24 15:20:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:51 [debug] Moves scheduled 39120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8620, max=15000
Sync err accum 71, peak jitter 0/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 948503005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:20:51 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16893, writes 0 timeouts 0
2025-04-24 15:20:51 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36110/37082
2025-04-24 15:20:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:51 [info] currentZPosition:0.0888
2025-04-24 15:20:53 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:53 [debug] Diagnostics for board 50:
2025-04-24 15:20:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:22:58 ago, cause: software
2025-04-24 15:20:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:53 [debug] Moves scheduled 39124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 947439271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:20:53 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17846, writes 0 timeouts 0
2025-04-24 15:20:53 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36070/37127
2025-04-24 15:20:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:53 [info] currentZPosition:0.0884
2025-04-24 15:20:54 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:54 [debug] Diagnostics for board 50:
2025-04-24 15:20:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:22:59 ago, cause: software
2025-04-24 15:20:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:54 [debug] Moves scheduled 39128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 946427005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:20:54 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16973, writes 0 timeouts 0
2025-04-24 15:20:54 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36063/37164
2025-04-24 15:20:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:54 [info] currentZPosition:0.0888
2025-04-24 15:20:55 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:55 [debug] Diagnostics for board 50:
2025-04-24 15:20:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:23:00 ago, cause: software
2025-04-24 15:20:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:55 [debug] Moves scheduled 39132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 945351840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:20:55 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18047, writes 0 timeouts 0
2025-04-24 15:20:55 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36100/37076
2025-04-24 15:20:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:55 [info] currentZPosition:0.0880
2025-04-24 15:20:57 [debug] Stopped at height 0.089 mm
2025-04-24 15:20:57 [debug] Diagnostics for board 50:
2025-04-24 15:20:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:02 ago, cause: software
2025-04-24 15:20:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:57 [debug] Moves scheduled 39136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10714, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 944342005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:20:57 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16955, writes 0 timeouts 0
2025-04-24 15:20:57 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36092/37147
2025-04-24 15:20:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:57 [info] currentZPosition:0.0887
2025-04-24 15:20:58 [debug] Stopped at height 0.088 mm
2025-04-24 15:20:58 [debug] Diagnostics for board 50:
2025-04-24 15:20:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:20:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:03 ago, cause: software
2025-04-24 15:20:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:20:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:20:58 [debug] Moves scheduled 39140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 109, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 943273141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:20:58 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17931, writes 0 timeouts 0
2025-04-24 15:20:58 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36027/37135
2025-04-24 15:20:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:20:58 [info] currentZPosition:0.0881
2025-04-24 15:21:00 [debug] Stopped at height 0.087 mm
2025-04-24 15:21:00 [debug] Diagnostics for board 50:
2025-04-24 15:21:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:04 ago, cause: software
2025-04-24 15:21:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:00 [debug] Moves scheduled 39144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 942236835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:00 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17384, writes 0 timeouts 0
2025-04-24 15:21:00 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36078/37146
2025-04-24 15:21:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:00 [info] currentZPosition:0.0875
2025-04-24 15:21:01 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:01 [debug] Diagnostics for board 50:
2025-04-24 15:21:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:06 ago, cause: software
2025-04-24 15:21:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:01 [debug] Moves scheduled 39148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 941203201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:21:01 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17357, writes 0 timeouts 0
2025-04-24 15:21:01 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36060/37116
2025-04-24 15:21:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9082, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:01 [info] currentZPosition:0.0888
2025-04-24 15:21:01 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:03 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:03 [debug] Diagnostics for board 50:
2025-04-24 15:21:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:08 ago, cause: software
2025-04-24 15:21:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:03 [debug] Moves scheduled 39154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 939937204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:21:03 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21264, writes 0 timeouts 0
2025-04-24 15:21:03 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36145/37097
2025-04-24 15:21:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:03 [info] currentZPosition:0.0882
2025-04-24 15:21:04 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:04 [debug] Diagnostics for board 50:
2025-04-24 15:21:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:09 ago, cause: software
2025-04-24 15:21:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:04 [debug] Moves scheduled 39158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 938911610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:04 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17195, writes 0 timeouts 0
2025-04-24 15:21:04 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 434, adv 35959/37140
2025-04-24 15:21:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:04 [info] currentZPosition:0.0900
2025-04-24 15:21:04 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:06 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:06 [debug] Diagnostics for board 50:
2025-04-24 15:21:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:23:11 ago, cause: software
2025-04-24 15:21:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:06 [debug] Moves scheduled 39164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/-2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 937640377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:06 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21323, writes 0 timeouts 0
2025-04-24 15:21:06 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36061/37105
2025-04-24 15:21:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:06 [info] currentZPosition:0.0891
2025-04-24 15:21:07 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:07 [debug] Diagnostics for board 50:
2025-04-24 15:21:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:12 ago, cause: software
2025-04-24 15:21:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:07 [debug] Moves scheduled 39168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 936557511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:21:07 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18191, writes 0 timeouts 0
2025-04-24 15:21:07 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36010/37104
2025-04-24 15:21:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:07 [info] currentZPosition:0.0876
2025-04-24 15:21:08 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:09 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:09 [debug] Diagnostics for board 50:
2025-04-24 15:21:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:14 ago, cause: software
2025-04-24 15:21:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:09 [debug] Moves scheduled 39174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 935316892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:21:09 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20800, writes 0 timeouts 0
2025-04-24 15:21:09 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36085/37156
2025-04-24 15:21:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:09 [info] currentZPosition:0.0885
2025-04-24 15:21:10 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:10 [debug] Diagnostics for board 50:
2025-04-24 15:21:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:15 ago, cause: software
2025-04-24 15:21:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:10 [debug] Moves scheduled 39178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 91, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 934280423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:21:10 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17395, writes 0 timeouts 0
2025-04-24 15:21:10 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36043/37137
2025-04-24 15:21:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:10 [info] currentZPosition:0.0897
2025-04-24 15:21:12 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:12 [debug] Diagnostics for board 50:
2025-04-24 15:21:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:16 ago, cause: software
2025-04-24 15:21:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:12 [debug] Moves scheduled 39182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 933245896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:12 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17377, writes 0 timeouts 0
2025-04-24 15:21:12 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36060/37104
2025-04-24 15:21:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:12 [info] currentZPosition:0.0891
2025-04-24 15:21:13 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:13 [debug] Diagnostics for board 50:
2025-04-24 15:21:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:18 ago, cause: software
2025-04-24 15:21:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:13 [debug] Moves scheduled 39186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 932201072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:21:13 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17503, writes 0 timeouts 0
2025-04-24 15:21:13 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36006/37148
2025-04-24 15:21:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9056, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:13 [info] currentZPosition:0.0898
2025-04-24 15:21:14 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:14 [debug] Diagnostics for board 50:
2025-04-24 15:21:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:19 ago, cause: software
2025-04-24 15:21:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:14 [debug] Moves scheduled 39190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 931160130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:14 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17457, writes 0 timeouts 0
2025-04-24 15:21:14 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36112/37123
2025-04-24 15:21:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:14 [info] currentZPosition:0.0887
2025-04-24 15:21:16 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:16 [debug] Diagnostics for board 50:
2025-04-24 15:21:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:21 ago, cause: software
2025-04-24 15:21:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:16 [debug] Moves scheduled 39194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 930095304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:16 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17905, writes 0 timeouts 0
2025-04-24 15:21:16 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36055/37118
2025-04-24 15:21:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:16 [info] currentZPosition:0.0884
2025-04-24 15:21:17 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:17 [debug] Diagnostics for board 50:
2025-04-24 15:21:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:22 ago, cause: software
2025-04-24 15:21:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:17 [debug] Moves scheduled 39198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 929071153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:17 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17155, writes 0 timeouts 0
2025-04-24 15:21:17 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36097/37119
2025-04-24 15:21:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:17 [info] currentZPosition:0.0883
2025-04-24 15:21:19 [debug] Stopped at height 0.087 mm
2025-04-24 15:21:19 [debug] Diagnostics for board 50:
2025-04-24 15:21:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:23 ago, cause: software
2025-04-24 15:21:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:19 [debug] Moves scheduled 39202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15306
Sync err accum 95, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 927998454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:19 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17993, writes 0 timeouts 0
2025-04-24 15:21:19 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36034/37156
2025-04-24 15:21:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9174, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:19 [info] currentZPosition:0.0874
2025-04-24 15:21:20 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:20 [debug] Diagnostics for board 50:
2025-04-24 15:21:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:23:25 ago, cause: software
2025-04-24 15:21:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:20 [debug] Moves scheduled 39206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 927020956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:21:20 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16436, writes 0 timeouts 0
2025-04-24 15:21:20 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36070/37162
2025-04-24 15:21:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:20 [info] currentZPosition:0.0896
2025-04-24 15:21:20 [debug] Stopped at height 0.087 mm
2025-04-24 15:21:22 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:22 [debug] Diagnostics for board 50:
2025-04-24 15:21:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:26 ago, cause: software
2025-04-24 15:21:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:22 [debug] Moves scheduled 39212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 925729849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:21:22 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21648, writes 0 timeouts 0
2025-04-24 15:21:22 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36052/37106
2025-04-24 15:21:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9060, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:22 [info] currentZPosition:0.0895
2025-04-24 15:21:22 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:23 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:23 [debug] Diagnostics for board 50:
2025-04-24 15:21:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:28 ago, cause: software
2025-04-24 15:21:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:23 [debug] Moves scheduled 39218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 924450685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:23 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21472, writes 0 timeouts 0
2025-04-24 15:21:23 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36097/37095
2025-04-24 15:21:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:23 [info] currentZPosition:0.0881
2025-04-24 15:21:25 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:25 [debug] Diagnostics for board 50:
2025-04-24 15:21:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:30 ago, cause: software
2025-04-24 15:21:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:25 [debug] Moves scheduled 39222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 923439218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:21:25 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17001, writes 0 timeouts 0
2025-04-24 15:21:25 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36009/37135
2025-04-24 15:21:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9015, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:25 [info] currentZPosition:0.0904
2025-04-24 15:21:25 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:26 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:26 [debug] Diagnostics for board 50:
2025-04-24 15:21:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:23:31 ago, cause: software
2025-04-24 15:21:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:26 [debug] Moves scheduled 39228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 94, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 922134049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:21:26 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21870, writes 0 timeouts 0
2025-04-24 15:21:26 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36056/37110
2025-04-24 15:21:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:26 [info] currentZPosition:0.0882
2025-04-24 15:21:27 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:28 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:28 [debug] Diagnostics for board 50:
2025-04-24 15:21:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:33 ago, cause: software
2025-04-24 15:21:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:28 [debug] Moves scheduled 39234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 920843523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:21:28 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21663, writes 0 timeouts 0
2025-04-24 15:21:28 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36005/37124
2025-04-24 15:21:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:28 [info] currentZPosition:0.0883
2025-04-24 15:21:29 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:29 [debug] Diagnostics for board 50:
2025-04-24 15:21:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:34 ago, cause: software
2025-04-24 15:21:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:29 [debug] Moves scheduled 39238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 919858734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:29 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16528, writes 0 timeouts 0
2025-04-24 15:21:29 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36107/37124
2025-04-24 15:21:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:29 [info] currentZPosition:0.0903
2025-04-24 15:21:30 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:31 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:31 [debug] Diagnostics for board 50:
2025-04-24 15:21:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:36 ago, cause: software
2025-04-24 15:21:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:31 [debug] Moves scheduled 39244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 918537721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:21:31 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22171, writes 0 timeouts 0
2025-04-24 15:21:31 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36026/37109
2025-04-24 15:21:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:31 [info] currentZPosition:0.0887
2025-04-24 15:21:32 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:32 [debug] Diagnostics for board 50:
2025-04-24 15:21:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:37 ago, cause: software
2025-04-24 15:21:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:32 [debug] Moves scheduled 39248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 917531099 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:32 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16908, writes 0 timeouts 0
2025-04-24 15:21:32 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36113/37147
2025-04-24 15:21:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:33 [info] currentZPosition:0.0896
2025-04-24 15:21:34 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:34 [debug] Diagnostics for board 50:
2025-04-24 15:21:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:23:39 ago, cause: software
2025-04-24 15:21:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:34 [debug] Moves scheduled 39252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 110, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 916481762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:34 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17588, writes 0 timeouts 0
2025-04-24 15:21:34 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36057/37120
2025-04-24 15:21:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:34 [info] currentZPosition:0.0900
2025-04-24 15:21:35 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:35 [debug] Diagnostics for board 50:
2025-04-24 15:21:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:40 ago, cause: software
2025-04-24 15:21:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:35 [debug] Moves scheduled 39256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 915451429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:21:35 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17306, writes 0 timeouts 0
2025-04-24 15:21:35 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36089/37148
2025-04-24 15:21:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:35 [info] currentZPosition:0.0894
2025-04-24 15:21:37 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:37 [debug] Diagnostics for board 50:
2025-04-24 15:21:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:23:42 ago, cause: software
2025-04-24 15:21:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:37 [debug] Moves scheduled 39260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 914378790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:37 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17985, writes 0 timeouts 0
2025-04-24 15:21:37 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36029/37161
2025-04-24 15:21:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:37 [info] currentZPosition:0.0886
2025-04-24 15:21:38 [debug] Stopped at height 0.091 mm
2025-04-24 15:21:38 [debug] Diagnostics for board 50:
2025-04-24 15:21:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:43 ago, cause: software
2025-04-24 15:21:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:38 [debug] Moves scheduled 39264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 913393500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:21:38 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16541, writes 0 timeouts 0
2025-04-24 15:21:38 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36189/37117
2025-04-24 15:21:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:38 [info] currentZPosition:0.0906
2025-04-24 15:21:38 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:40 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:40 [debug] Diagnostics for board 50:
2025-04-24 15:21:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:45 ago, cause: software
2025-04-24 15:21:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:40 [debug] Moves scheduled 39270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 912086601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:40 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21930, writes 0 timeouts 0
2025-04-24 15:21:40 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36020/37125
2025-04-24 15:21:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:40 [info] currentZPosition:0.0897
2025-04-24 15:21:41 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:41 [debug] Diagnostics for board 50:
2025-04-24 15:21:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:46 ago, cause: software
2025-04-24 15:21:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:41 [debug] Moves scheduled 39274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 62, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 911061572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:41 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17206, writes 0 timeouts 0
2025-04-24 15:21:41 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 417, adv 36324/37122
2025-04-24 15:21:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:41 [info] currentZPosition:0.0897
2025-04-24 15:21:43 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:43 [debug] Diagnostics for board 50:
2025-04-24 15:21:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:47 ago, cause: software
2025-04-24 15:21:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:43 [debug] Moves scheduled 39278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter 2/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 910001406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:21:43 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17785, writes 0 timeouts 0
2025-04-24 15:21:43 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36036/37114
2025-04-24 15:21:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:43 [info] currentZPosition:0.0895
2025-04-24 15:21:44 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:44 [debug] Diagnostics for board 50:
2025-04-24 15:21:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:49 ago, cause: software
2025-04-24 15:21:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:44 [debug] Moves scheduled 39282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 908985977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:21:44 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17051, writes 0 timeouts 0
2025-04-24 15:21:44 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36298/37121
2025-04-24 15:21:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:44 [info] currentZPosition:0.0899
2025-04-24 15:21:45 [debug] Stopped at height 0.087 mm
2025-04-24 15:21:45 [debug] Diagnostics for board 50:
2025-04-24 15:21:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:23:50 ago, cause: software
2025-04-24 15:21:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:45 [debug] Moves scheduled 39286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 107, peak jitter 1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 907868700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:45 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18731, writes 0 timeouts 0
2025-04-24 15:21:45 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36035/37123
2025-04-24 15:21:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:45 [info] currentZPosition:0.0867
2025-04-24 15:21:46 [debug] Stopped at height 0.085 mm
2025-04-24 15:21:46 [debug] Stopped at height 0.084 mm
2025-04-24 15:21:47 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:47 [debug] Diagnostics for board 50:
2025-04-24 15:21:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:52 ago, cause: software
2025-04-24 15:21:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:47 [debug] Moves scheduled 39294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 121, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 906393944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:47 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24753, writes 0 timeouts 0
2025-04-24 15:21:47 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36343/37142
2025-04-24 15:21:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:47 [info] currentZPosition:0.0886
2025-04-24 15:21:48 [debug] Stopped at height 0.087 mm
2025-04-24 15:21:48 [debug] Stopped at height 0.087 mm
2025-04-24 15:21:49 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:49 [debug] Diagnostics for board 50:
2025-04-24 15:21:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:54 ago, cause: software
2025-04-24 15:21:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:49 [debug] Moves scheduled 39302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 261, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 122, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 904867539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:49 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25601, writes 0 timeouts 0
2025-04-24 15:21:49 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36045/37160
2025-04-24 15:21:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:49 [info] currentZPosition:0.0891
2025-04-24 15:21:50 [debug] Stopped at height 0.088 mm
2025-04-24 15:21:51 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:51 [debug] Diagnostics for board 50:
2025-04-24 15:21:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:56 ago, cause: software
2025-04-24 15:21:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:51 [debug] Moves scheduled 39308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 103, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 903599782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:21:51 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21286, writes 0 timeouts 0
2025-04-24 15:21:51 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36384/37156
2025-04-24 15:21:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:51 [info] currentZPosition:0.0893
2025-04-24 15:21:53 [debug] Stopped at height 0.089 mm
2025-04-24 15:21:53 [debug] Diagnostics for board 50:
2025-04-24 15:21:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:23:58 ago, cause: software
2025-04-24 15:21:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:53 [debug] Moves scheduled 39312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -4/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 902367155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:53 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20675, writes 0 timeouts 0
2025-04-24 15:21:53 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36022/37129
2025-04-24 15:21:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:53 [info] currentZPosition:0.0888
2025-04-24 15:21:54 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:54 [debug] Diagnostics for board 50:
2025-04-24 15:21:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:23:59 ago, cause: software
2025-04-24 15:21:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:54 [debug] Moves scheduled 39316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 901363624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:21:54 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16849, writes 0 timeouts 0
2025-04-24 15:21:54 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36317/37156
2025-04-24 15:21:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:54 [info] currentZPosition:0.0899
2025-04-24 15:21:55 [debug] Stopped at height 0.091 mm
2025-04-24 15:21:55 [debug] Diagnostics for board 50:
2025-04-24 15:21:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:00 ago, cause: software
2025-04-24 15:21:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:55 [debug] Moves scheduled 39320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 59, peak jitter -3/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 900322427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:21:55 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17488, writes 0 timeouts 0
2025-04-24 15:21:55 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36027/37097
2025-04-24 15:21:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9062, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:56 [info] currentZPosition:0.0908
2025-04-24 15:21:57 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:57 [debug] Diagnostics for board 50:
2025-04-24 15:21:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:02 ago, cause: software
2025-04-24 15:21:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:57 [debug] Moves scheduled 39324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 899285918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:21:57 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17381, writes 0 timeouts 0
2025-04-24 15:21:57 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36327/37168
2025-04-24 15:21:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:57 [info] currentZPosition:0.0900
2025-04-24 15:21:58 [debug] Stopped at height 0.090 mm
2025-04-24 15:21:58 [debug] Diagnostics for board 50:
2025-04-24 15:21:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:21:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:24:03 ago, cause: software
2025-04-24 15:21:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:21:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:21:58 [debug] Moves scheduled 39328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=14705
Sync err accum 86, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 898218598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:21:58 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17926, writes 0 timeouts 0
2025-04-24 15:21:58 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36053/37118
2025-04-24 15:21:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:21:58 [info] currentZPosition:0.0896
2025-04-24 15:22:00 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:00 [debug] Diagnostics for board 50:
2025-04-24 15:22:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:04 ago, cause: software
2025-04-24 15:22:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:00 [debug] Moves scheduled 39332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 897206095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:22:00 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16975, writes 0 timeouts 0
2025-04-24 15:22:00 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36318/37153
2025-04-24 15:22:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:00 [info] currentZPosition:0.0903
2025-04-24 15:22:01 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:01 [debug] Diagnostics for board 50:
2025-04-24 15:22:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:06 ago, cause: software
2025-04-24 15:22:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:01 [debug] Moves scheduled 39336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 103, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 896127950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:22:01 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18083, writes 0 timeouts 0
2025-04-24 15:22:01 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36011/37121
2025-04-24 15:22:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:01 [info] currentZPosition:0.0892
2025-04-24 15:22:02 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:02 [debug] Diagnostics for board 50:
2025-04-24 15:22:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:07 ago, cause: software
2025-04-24 15:22:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:02 [debug] Moves scheduled 39340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 895135071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:22:02 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16681, writes 0 timeouts 0
2025-04-24 15:22:02 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36344/37173
2025-04-24 15:22:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9071, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:02 [info] currentZPosition:0.0909
2025-04-24 15:22:03 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:04 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:04 [debug] Diagnostics for board 50:
2025-04-24 15:22:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:09 ago, cause: software
2025-04-24 15:22:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:04 [debug] Moves scheduled 39346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 893843449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:04 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21663, writes 0 timeouts 0
2025-04-24 15:22:04 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36045/37152
2025-04-24 15:22:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:04 [info] currentZPosition:0.0907
2025-04-24 15:22:05 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:05 [debug] Diagnostics for board 50:
2025-04-24 15:22:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:10 ago, cause: software
2025-04-24 15:22:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:05 [debug] Moves scheduled 39350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 892795737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:22:05 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17579, writes 0 timeouts 0
2025-04-24 15:22:05 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36332/37172
2025-04-24 15:22:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:06 [info] currentZPosition:0.0895
2025-04-24 15:22:07 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:07 [debug] Diagnostics for board 50:
2025-04-24 15:22:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:12 ago, cause: software
2025-04-24 15:22:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:07 [debug] Moves scheduled 39354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 891743703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:22:07 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17673, writes 0 timeouts 0
2025-04-24 15:22:07 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36035/37117
2025-04-24 15:22:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:07 [info] currentZPosition:0.0897
2025-04-24 15:22:08 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:08 [debug] Diagnostics for board 50:
2025-04-24 15:22:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:13 ago, cause: software
2025-04-24 15:22:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:08 [debug] Moves scheduled 39358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 890717037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:22:08 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17221, writes 0 timeouts 0
2025-04-24 15:22:08 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36306/37135
2025-04-24 15:22:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:08 [info] currentZPosition:0.0895
2025-04-24 15:22:10 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:10 [debug] Diagnostics for board 50:
2025-04-24 15:22:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:24:15 ago, cause: software
2025-04-24 15:22:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:10 [debug] Moves scheduled 39362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 889675047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:22:10 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17465, writes 0 timeouts 0
2025-04-24 15:22:10 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36030/37142
2025-04-24 15:22:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:10 [info] currentZPosition:0.0903
2025-04-24 15:22:11 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:11 [debug] Diagnostics for board 50:
2025-04-24 15:22:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:16 ago, cause: software
2025-04-24 15:22:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:11 [debug] Moves scheduled 39366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 888656352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:22:11 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17122, writes 0 timeouts 0
2025-04-24 15:22:11 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36386/37131
2025-04-24 15:22:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:11 [info] currentZPosition:0.0906
2025-04-24 15:22:12 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:12 [debug] Diagnostics for board 50:
2025-04-24 15:22:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:17 ago, cause: software
2025-04-24 15:22:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:12 [debug] Moves scheduled 39370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 887585150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:22:12 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17942, writes 0 timeouts 0
2025-04-24 15:22:12 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36021/37130
2025-04-24 15:22:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:13 [info] currentZPosition:0.0898
2025-04-24 15:22:14 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:14 [debug] Diagnostics for board 50:
2025-04-24 15:22:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:19 ago, cause: software
2025-04-24 15:22:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:14 [debug] Moves scheduled 39374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 0/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 886575190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:22:14 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16946, writes 0 timeouts 0
2025-04-24 15:22:14 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36372/37121
2025-04-24 15:22:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:14 [info] currentZPosition:0.0905
2025-04-24 15:22:15 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:15 [debug] Diagnostics for board 50:
2025-04-24 15:22:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:20 ago, cause: software
2025-04-24 15:22:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:15 [debug] Moves scheduled 39378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 885505739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:22:15 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17980, writes 0 timeouts 0
2025-04-24 15:22:15 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36077/37143
2025-04-24 15:22:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:15 [info] currentZPosition:0.0899
2025-04-24 15:22:17 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:17 [debug] Diagnostics for board 50:
2025-04-24 15:22:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:21 ago, cause: software
2025-04-24 15:22:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:17 [debug] Moves scheduled 39382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 884470714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:22:17 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17344, writes 0 timeouts 0
2025-04-24 15:22:17 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36379/37122
2025-04-24 15:22:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:17 [info] currentZPosition:0.0893
2025-04-24 15:22:18 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:18 [debug] Diagnostics for board 50:
2025-04-24 15:22:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:24:23 ago, cause: software
2025-04-24 15:22:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:18 [debug] Moves scheduled 39386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 883432708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:22:18 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17424, writes 0 timeouts 0
2025-04-24 15:22:18 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36052/37117
2025-04-24 15:22:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:18 [info] currentZPosition:0.0905
2025-04-24 15:22:19 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:19 [debug] Diagnostics for board 50:
2025-04-24 15:22:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:24 ago, cause: software
2025-04-24 15:22:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:19 [debug] Moves scheduled 39390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 101, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 882393251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:19 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17462, writes 0 timeouts 0
2025-04-24 15:22:19 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36309/37131
2025-04-24 15:22:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:19 [info] currentZPosition:0.0895
2025-04-24 15:22:21 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:21 [debug] Diagnostics for board 50:
2025-04-24 15:22:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:26 ago, cause: software
2025-04-24 15:22:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:21 [debug] Moves scheduled 39394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 881325237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:22:21 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17902, writes 0 timeouts 0
2025-04-24 15:22:21 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36059/37131
2025-04-24 15:22:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:21 [info] currentZPosition:0.0891
2025-04-24 15:22:22 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:22 [debug] Diagnostics for board 50:
2025-04-24 15:22:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:27 ago, cause: software
2025-04-24 15:22:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:22 [debug] Moves scheduled 39398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 880330891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:22 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16675, writes 0 timeouts 0
2025-04-24 15:22:22 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36354/37135
2025-04-24 15:22:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:22 [info] currentZPosition:0.0908
2025-04-24 15:22:23 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:24 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:24 [debug] Diagnostics for board 50:
2025-04-24 15:22:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:24:29 ago, cause: software
2025-04-24 15:22:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:24 [debug] Moves scheduled 39404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 879025874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:24 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21926, writes 0 timeouts 0
2025-04-24 15:22:24 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36084/37128
2025-04-24 15:22:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:24 [info] currentZPosition:0.0900
2025-04-24 15:22:25 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:25 [debug] Diagnostics for board 50:
2025-04-24 15:22:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:30 ago, cause: software
2025-04-24 15:22:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:25 [debug] Moves scheduled 39408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 878011686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:22:25 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16993, writes 0 timeouts 0
2025-04-24 15:22:25 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36353/37131
2025-04-24 15:22:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:25 [info] currentZPosition:0.0906
2025-04-24 15:22:27 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:27 [debug] Diagnostics for board 50:
2025-04-24 15:22:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:31 ago, cause: software
2025-04-24 15:22:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:27 [debug] Moves scheduled 39412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 228, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 876971018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:22:27 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17458, writes 0 timeouts 0
2025-04-24 15:22:27 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36048/37124
2025-04-24 15:22:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9046, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:27 [info] currentZPosition:0.0914
2025-04-24 15:22:28 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:28 [debug] Diagnostics for board 50:
2025-04-24 15:22:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:33 ago, cause: software
2025-04-24 15:22:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:28 [debug] Moves scheduled 39416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 875901619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:28 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17958, writes 0 timeouts 0
2025-04-24 15:22:28 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36291/37135
2025-04-24 15:22:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:28 [info] currentZPosition:0.0890
2025-04-24 15:22:28 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:30 [debug] Stopped at height 0.092 mm
2025-04-24 15:22:30 [debug] Diagnostics for board 50:
2025-04-24 15:22:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:35 ago, cause: software
2025-04-24 15:22:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:30 [debug] Moves scheduled 39422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 874656795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:22:30 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20861, writes 0 timeouts 0
2025-04-24 15:22:30 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36054/37119
2025-04-24 15:22:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9067, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:30 [info] currentZPosition:0.0916
2025-04-24 15:22:30 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:31 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:31 [debug] Diagnostics for board 50:
2025-04-24 15:22:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:36 ago, cause: software
2025-04-24 15:22:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:31 [debug] Moves scheduled 39428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 873376630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:22:31 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21471, writes 0 timeouts 0
2025-04-24 15:22:31 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36288/37121
2025-04-24 15:22:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:31 [info] currentZPosition:0.0905
2025-04-24 15:22:33 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:33 [debug] Diagnostics for board 50:
2025-04-24 15:22:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:24:38 ago, cause: software
2025-04-24 15:22:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:33 [debug] Moves scheduled 39432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 872319022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:22:33 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17760, writes 0 timeouts 0
2025-04-24 15:22:33 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36011/37144
2025-04-24 15:22:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:33 [info] currentZPosition:0.0905
2025-04-24 15:22:34 [debug] Stopped at height 0.092 mm
2025-04-24 15:22:34 [debug] Diagnostics for board 50:
2025-04-24 15:22:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:39 ago, cause: software
2025-04-24 15:22:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:34 [debug] Moves scheduled 39436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter 1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 871316326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:22:34 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16828, writes 0 timeouts 0
2025-04-24 15:22:34 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36169/37122
2025-04-24 15:22:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9064, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:34 [info] currentZPosition:0.0915
2025-04-24 15:22:36 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:36 [debug] Diagnostics for board 50:
2025-04-24 15:22:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:40 ago, cause: software
2025-04-24 15:22:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:36 [debug] Moves scheduled 39440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 114, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 870234605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:22:36 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18146, writes 0 timeouts 0
2025-04-24 15:22:36 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36054/37099
2025-04-24 15:22:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:36 [info] currentZPosition:0.0904
2025-04-24 15:22:37 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:37 [debug] Diagnostics for board 50:
2025-04-24 15:22:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:42 ago, cause: software
2025-04-24 15:22:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:37 [debug] Moves scheduled 39444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 115, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 869228930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:22:37 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16865, writes 0 timeouts 0
2025-04-24 15:22:37 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36101/37114
2025-04-24 15:22:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:37 [info] currentZPosition:0.0913
2025-04-24 15:22:38 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:38 [debug] Diagnostics for board 50:
2025-04-24 15:22:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:24:43 ago, cause: software
2025-04-24 15:22:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:38 [debug] Moves scheduled 39448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 868144187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:22:38 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18210, writes 0 timeouts 0
2025-04-24 15:22:38 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36046/37144
2025-04-24 15:22:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:38 [info] currentZPosition:0.0897
2025-04-24 15:22:39 [debug] Stopped at height 0.089 mm
2025-04-24 15:22:40 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:40 [debug] Diagnostics for board 50:
2025-04-24 15:22:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:45 ago, cause: software
2025-04-24 15:22:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:40 [debug] Moves scheduled 39454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 109, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 866892563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:22:40 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20999, writes 0 timeouts 0
2025-04-24 15:22:40 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36065/37140
2025-04-24 15:22:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:40 [info] currentZPosition:0.0903
2025-04-24 15:22:41 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:41 [debug] Diagnostics for board 50:
2025-04-24 15:22:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:46 ago, cause: software
2025-04-24 15:22:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:41 [debug] Moves scheduled 39458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 102, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 865844877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:22:41 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17581, writes 0 timeouts 0
2025-04-24 15:22:41 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36008/37108
2025-04-24 15:22:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:42 [info] currentZPosition:0.0908
2025-04-24 15:22:43 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:43 [debug] Diagnostics for board 50:
2025-04-24 15:22:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:48 ago, cause: software
2025-04-24 15:22:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:43 [debug] Moves scheduled 39462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 864812784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:22:43 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17337, writes 0 timeouts 0
2025-04-24 15:22:43 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36093/37126
2025-04-24 15:22:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:43 [info] currentZPosition:0.0902
2025-04-24 15:22:44 [debug] Stopped at height 0.092 mm
2025-04-24 15:22:44 [debug] Diagnostics for board 50:
2025-04-24 15:22:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:24:49 ago, cause: software
2025-04-24 15:22:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:44 [debug] Moves scheduled 39466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 863783840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:22:44 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17250, writes 0 timeouts 0
2025-04-24 15:22:44 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36013/37126
2025-04-24 15:22:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:44 [info] currentZPosition:0.0917
2025-04-24 15:22:45 [debug] Stopped at height 0.092 mm
2025-04-24 15:22:46 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:46 [debug] Diagnostics for board 50:
2025-04-24 15:22:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:51 ago, cause: software
2025-04-24 15:22:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:46 [debug] Moves scheduled 39472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 862509007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:22:46 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21400, writes 0 timeouts 0
2025-04-24 15:22:46 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36110/37135
2025-04-24 15:22:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:46 [info] currentZPosition:0.0906
2025-04-24 15:22:47 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:47 [debug] Diagnostics for board 50:
2025-04-24 15:22:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:24:52 ago, cause: software
2025-04-24 15:22:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:47 [debug] Moves scheduled 39476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 861460227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:22:47 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17591, writes 0 timeouts 0
2025-04-24 15:22:47 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36045/37124
2025-04-24 15:22:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:47 [info] currentZPosition:0.0909
2025-04-24 15:22:49 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:49 [debug] Diagnostics for board 50:
2025-04-24 15:22:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:24:54 ago, cause: software
2025-04-24 15:22:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:49 [debug] Moves scheduled 39480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 860439579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:22:49 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17132, writes 0 timeouts 0
2025-04-24 15:22:49 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36042/37105
2025-04-24 15:22:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:49 [info] currentZPosition:0.0909
2025-04-24 15:22:50 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:50 [debug] Diagnostics for board 50:
2025-04-24 15:22:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:55 ago, cause: software
2025-04-24 15:22:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:50 [debug] Moves scheduled 39484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 90, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 859364987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:22:50 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18021, writes 0 timeouts 0
2025-04-24 15:22:50 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36047/37116
2025-04-24 15:22:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:50 [info] currentZPosition:0.0900
2025-04-24 15:22:51 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:51 [debug] Diagnostics for board 50:
2025-04-24 15:22:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:56 ago, cause: software
2025-04-24 15:22:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:51 [debug] Moves scheduled 39488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 858339107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:22:51 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17223, writes 0 timeouts 0
2025-04-24 15:22:51 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36108/37141
2025-04-24 15:22:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:52 [info] currentZPosition:0.0897
2025-04-24 15:22:53 [debug] Stopped at height 0.092 mm
2025-04-24 15:22:53 [debug] Diagnostics for board 50:
2025-04-24 15:22:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:24:58 ago, cause: software
2025-04-24 15:22:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:53 [debug] Moves scheduled 39492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 857318944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:22:53 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17137, writes 0 timeouts 0
2025-04-24 15:22:53 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36055/37090
2025-04-24 15:22:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:53 [info] currentZPosition:0.0916
2025-04-24 15:22:53 [debug] Stopped at height 0.090 mm
2025-04-24 15:22:54 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:54 [debug] Diagnostics for board 50:
2025-04-24 15:22:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:24:59 ago, cause: software
2025-04-24 15:22:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:54 [debug] Moves scheduled 39498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 856056336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:54 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21180, writes 0 timeouts 0
2025-04-24 15:22:54 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36055/37169
2025-04-24 15:22:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:55 [info] currentZPosition:0.0914
2025-04-24 15:22:55 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:56 [debug] Stopped at height 0.093 mm
2025-04-24 15:22:56 [debug] Diagnostics for board 50:
2025-04-24 15:22:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:01 ago, cause: software
2025-04-24 15:22:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:56 [debug] Moves scheduled 39504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 85, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 854792460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:56 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21219, writes 0 timeouts 0
2025-04-24 15:22:56 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36007/37158
2025-04-24 15:22:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9044, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:56 [info] currentZPosition:0.0926
2025-04-24 15:22:57 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:58 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:58 [debug] Diagnostics for board 50:
2025-04-24 15:22:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:03 ago, cause: software
2025-04-24 15:22:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:58 [debug] Moves scheduled 39510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 853503199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:22:58 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21612, writes 0 timeouts 0
2025-04-24 15:22:58 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36121/37160
2025-04-24 15:22:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:58 [info] currentZPosition:0.0912
2025-04-24 15:22:59 [debug] Stopped at height 0.091 mm
2025-04-24 15:22:59 [debug] Diagnostics for board 50:
2025-04-24 15:22:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:22:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:04 ago, cause: software
2025-04-24 15:22:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:22:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:22:59 [debug] Moves scheduled 39514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 852430012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:22:59 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18032, writes 0 timeouts 0
2025-04-24 15:22:59 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36007/37164
2025-04-24 15:22:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:22:59 [info] currentZPosition:0.0906
2025-04-24 15:23:01 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:01 [debug] Diagnostics for board 50:
2025-04-24 15:23:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:06 ago, cause: software
2025-04-24 15:23:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:01 [debug] Moves scheduled 39518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 851403066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:23:01 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17226, writes 0 timeouts 0
2025-04-24 15:23:01 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36065/37092
2025-04-24 15:23:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:01 [info] currentZPosition:0.0904
2025-04-24 15:23:02 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:02 [debug] Diagnostics for board 50:
2025-04-24 15:23:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:07 ago, cause: software
2025-04-24 15:23:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:02 [debug] Moves scheduled 39522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 850377517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:23:02 [debug] Driver 0: pos -3507, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17201, writes 0 timeouts 0
2025-04-24 15:23:02 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36056/37107
2025-04-24 15:23:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:02 [info] currentZPosition:0.0921
2025-04-24 15:23:02 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:04 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:04 [debug] Diagnostics for board 50:
2025-04-24 15:23:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:09 ago, cause: software
2025-04-24 15:23:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:04 [debug] Moves scheduled 39528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 81, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 849103423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:23:04 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21402, writes 0 timeouts 0
2025-04-24 15:23:04 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36161/37133
2025-04-24 15:23:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:04 [info] currentZPosition:0.0911
2025-04-24 15:23:05 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:05 [debug] Diagnostics for board 50:
2025-04-24 15:23:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:10 ago, cause: software
2025-04-24 15:23:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:05 [debug] Moves scheduled 39532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 848065121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:23:05 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17429, writes 0 timeouts 0
2025-04-24 15:23:05 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35993/37122
2025-04-24 15:23:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:05 [info] currentZPosition:0.0922
2025-04-24 15:23:06 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:06 [debug] Diagnostics for board 50:
2025-04-24 15:23:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:11 ago, cause: software
2025-04-24 15:23:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:06 [debug] Moves scheduled 39536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 847030655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:23:06 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17348, writes 0 timeouts 0
2025-04-24 15:23:06 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36106/37100
2025-04-24 15:23:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9050, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:07 [info] currentZPosition:0.0916
2025-04-24 15:23:08 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:08 [debug] Diagnostics for board 50:
2025-04-24 15:23:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:13 ago, cause: software
2025-04-24 15:23:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:08 [debug] Moves scheduled 39540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 845969192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:08 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17799, writes 0 timeouts 0
2025-04-24 15:23:08 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36009/37089
2025-04-24 15:23:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:08 [info] currentZPosition:0.0914
2025-04-24 15:23:09 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:09 [debug] Diagnostics for board 50:
2025-04-24 15:23:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:14 ago, cause: software
2025-04-24 15:23:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:09 [debug] Moves scheduled 39544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 844933118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:09 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17413, writes 0 timeouts 0
2025-04-24 15:23:09 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 36122/37131
2025-04-24 15:23:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:09 [info] currentZPosition:0.0907
2025-04-24 15:23:11 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:11 [debug] Diagnostics for board 50:
2025-04-24 15:23:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:16 ago, cause: software
2025-04-24 15:23:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:11 [debug] Moves scheduled 39548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=44, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 843863970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:23:11 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17913, writes 0 timeouts 0
2025-04-24 15:23:11 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36026/37114
2025-04-24 15:23:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:11 [info] currentZPosition:0.0902
2025-04-24 15:23:12 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:12 [debug] Diagnostics for board 50:
2025-04-24 15:23:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:17 ago, cause: software
2025-04-24 15:23:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:12 [debug] Moves scheduled 39552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 842833914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:23:12 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17277, writes 0 timeouts 0
2025-04-24 15:23:12 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 404, adv 36069/37096
2025-04-24 15:23:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9210, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:12 [info] currentZPosition:0.0896
2025-04-24 15:23:13 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:13 [debug] Diagnostics for board 50:
2025-04-24 15:23:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:18 ago, cause: software
2025-04-24 15:23:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:13 [debug] Moves scheduled 39556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 841796503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:13 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17467, writes 0 timeouts 0
2025-04-24 15:23:13 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36015/37162
2025-04-24 15:23:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:14 [info] currentZPosition:0.0906
2025-04-24 15:23:15 [debug] Stopped at height 0.089 mm
2025-04-24 15:23:15 [debug] Diagnostics for board 50:
2025-04-24 15:23:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:20 ago, cause: software
2025-04-24 15:23:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:15 [debug] Moves scheduled 39560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 78, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 840741564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:23:15 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17655, writes 0 timeouts 0
2025-04-24 15:23:15 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36076/37172
2025-04-24 15:23:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9217, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:15 [info] currentZPosition:0.0888
2025-04-24 15:23:15 [debug] Stopped at height 0.087 mm
2025-04-24 15:23:17 [debug] Stopped at height 0.089 mm
2025-04-24 15:23:17 [debug] Diagnostics for board 50:
2025-04-24 15:23:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:21 ago, cause: software
2025-04-24 15:23:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:17 [debug] Moves scheduled 39566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 839453252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:23:17 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21602, writes 0 timeouts 0
2025-04-24 15:23:17 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 423, adv 36011/37127
2025-04-24 15:23:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9192, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:17 [info] currentZPosition:0.0895
2025-04-24 15:23:17 [debug] Stopped at height 0.087 mm
2025-04-24 15:23:18 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:18 [debug] Diagnostics for board 50:
2025-04-24 15:23:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:23 ago, cause: software
2025-04-24 15:23:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:18 [debug] Moves scheduled 39572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 838213520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:23:18 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20824, writes 0 timeouts 0
2025-04-24 15:23:18 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36157/37105
2025-04-24 15:23:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:18 [info] currentZPosition:0.0902
2025-04-24 15:23:19 [debug] Stopped at height 0.089 mm
2025-04-24 15:23:20 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:20 [debug] Diagnostics for board 50:
2025-04-24 15:23:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:25 ago, cause: software
2025-04-24 15:23:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:20 [debug] Moves scheduled 39578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 836934583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:20 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21437, writes 0 timeouts 0
2025-04-24 15:23:20 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36057/37109
2025-04-24 15:23:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:20 [info] currentZPosition:0.0911
2025-04-24 15:23:20 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:22 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:22 [debug] Diagnostics for board 50:
2025-04-24 15:23:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:27 ago, cause: software
2025-04-24 15:23:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:22 [debug] Moves scheduled 39584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 835661975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:23:22 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21338, writes 0 timeouts 0
2025-04-24 15:23:22 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36103/37110
2025-04-24 15:23:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:22 [info] currentZPosition:0.0908
2025-04-24 15:23:23 [debug] Stopped at height 0.093 mm
2025-04-24 15:23:23 [debug] Diagnostics for board 50:
2025-04-24 15:23:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:28 ago, cause: software
2025-04-24 15:23:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:23 [debug] Moves scheduled 39588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 834646746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:23:23 [debug] Driver 0: pos -3504, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17082, writes 0 timeouts 0
2025-04-24 15:23:23 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36021/37127
2025-04-24 15:23:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9037, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:23 [info] currentZPosition:0.0929
2025-04-24 15:23:23 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:25 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:25 [debug] Diagnostics for board 50:
2025-04-24 15:23:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:30 ago, cause: software
2025-04-24 15:23:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:25 [debug] Moves scheduled 39594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 833362918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:23:25 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21509, writes 0 timeouts 0
2025-04-24 15:23:25 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36063/37168
2025-04-24 15:23:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:25 [info] currentZPosition:0.0914
2025-04-24 15:23:26 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:26 [debug] Diagnostics for board 50:
2025-04-24 15:23:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:31 ago, cause: software
2025-04-24 15:23:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:26 [debug] Moves scheduled 39598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 832312757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:23:26 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17616, writes 0 timeouts 0
2025-04-24 15:23:26 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36057/37137
2025-04-24 15:23:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:26 [info] currentZPosition:0.0918
2025-04-24 15:23:28 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:28 [debug] Diagnostics for board 50:
2025-04-24 15:23:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:32 ago, cause: software
2025-04-24 15:23:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:28 [debug] Moves scheduled 39602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 831265154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:23:28 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17590, writes 0 timeouts 0
2025-04-24 15:23:28 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36106/37095
2025-04-24 15:23:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:28 [info] currentZPosition:0.0905
2025-04-24 15:23:28 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:29 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:29 [debug] Diagnostics for board 50:
2025-04-24 15:23:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:34 ago, cause: software
2025-04-24 15:23:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:29 [debug] Moves scheduled 39608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 829990735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:23:29 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21378, writes 0 timeouts 0
2025-04-24 15:23:29 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36055/37129
2025-04-24 15:23:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:29 [info] currentZPosition:0.0916
2025-04-24 15:23:30 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:31 [debug] Stopped at height 0.093 mm
2025-04-24 15:23:31 [debug] Diagnostics for board 50:
2025-04-24 15:23:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:36 ago, cause: software
2025-04-24 15:23:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:31 [debug] Moves scheduled 39614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 828748658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:31 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20852, writes 0 timeouts 0
2025-04-24 15:23:31 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36227/37076
2025-04-24 15:23:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:31 [info] currentZPosition:0.0925
2025-04-24 15:23:31 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:33 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:33 [debug] Diagnostics for board 50:
2025-04-24 15:23:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:38 ago, cause: software
2025-04-24 15:23:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:33 [debug] Moves scheduled 39620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 115, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 827435946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:23:33 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22031, writes 0 timeouts 0
2025-04-24 15:23:33 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36082/37164
2025-04-24 15:23:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:33 [info] currentZPosition:0.0913
2025-04-24 15:23:34 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:34 [debug] Diagnostics for board 50:
2025-04-24 15:23:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:25:39 ago, cause: software
2025-04-24 15:23:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:34 [debug] Moves scheduled 39624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 119, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 826407027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:34 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17275, writes 0 timeouts 0
2025-04-24 15:23:34 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36311/37099
2025-04-24 15:23:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:34 [info] currentZPosition:0.0909
2025-04-24 15:23:35 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:35 [debug] Diagnostics for board 50:
2025-04-24 15:23:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:25:40 ago, cause: software
2025-04-24 15:23:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:35 [debug] Moves scheduled 39628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 122, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 825377043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:35 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17286, writes 0 timeouts 0
2025-04-24 15:23:35 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 344, adv 36048/37168
2025-04-24 15:23:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:35 [info] currentZPosition:0.0923
2025-04-24 15:23:36 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:37 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:37 [debug] Diagnostics for board 50:
2025-04-24 15:23:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:25:42 ago, cause: software
2025-04-24 15:23:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:37 [debug] Moves scheduled 39634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 119, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 824114880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:23:37 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21160, writes 0 timeouts 0
2025-04-24 15:23:37 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36312/37096
2025-04-24 15:23:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:37 [info] currentZPosition:0.0918
2025-04-24 15:23:38 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:38 [debug] Diagnostics for board 50:
2025-04-24 15:23:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:43 ago, cause: software
2025-04-24 15:23:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:38 [debug] Moves scheduled 39638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 111, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 823032216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:23:38 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18157, writes 0 timeouts 0
2025-04-24 15:23:38 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36042/37109
2025-04-24 15:23:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:39 [info] currentZPosition:0.0904
2025-04-24 15:23:39 [debug] Stopped at height 0.088 mm
2025-04-24 15:23:39 [debug] Stopped at height 0.088 mm
2025-04-24 15:23:40 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:40 [debug] Diagnostics for board 50:
2025-04-24 15:23:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:25:45 ago, cause: software
2025-04-24 15:23:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:40 [debug] Moves scheduled 39646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 821561561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:40 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24693, writes 0 timeouts 0
2025-04-24 15:23:40 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36397/37122
2025-04-24 15:23:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9068, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4584, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:41 [info] currentZPosition:0.0923
2025-04-24 15:23:41 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:42 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:42 [debug] Diagnostics for board 50:
2025-04-24 15:23:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:47 ago, cause: software
2025-04-24 15:23:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:42 [debug] Moves scheduled 39652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 820245357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:23:42 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22089, writes 0 timeouts 0
2025-04-24 15:23:42 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36037/37153
2025-04-24 15:23:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:42 [info] currentZPosition:0.0917
2025-04-24 15:23:44 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:44 [debug] Diagnostics for board 50:
2025-04-24 15:23:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:25:48 ago, cause: software
2025-04-24 15:23:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:44 [debug] Moves scheduled 39656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10000, max=15000
Sync err accum 65, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 819214530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:23:44 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17292, writes 0 timeouts 0
2025-04-24 15:23:44 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36323/37125
2025-04-24 15:23:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:44 [info] currentZPosition:0.0915
2025-04-24 15:23:45 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:45 [debug] Diagnostics for board 50:
2025-04-24 15:23:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:50 ago, cause: software
2025-04-24 15:23:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:45 [debug] Moves scheduled 39660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 818172897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:23:45 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17475, writes 0 timeouts 0
2025-04-24 15:23:45 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36017/37143
2025-04-24 15:23:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:45 [info] currentZPosition:0.0924
2025-04-24 15:23:46 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:46 [debug] Diagnostics for board 50:
2025-04-24 15:23:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:25:51 ago, cause: software
2025-04-24 15:23:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:46 [debug] Moves scheduled 39664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 817140967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:23:46 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17325, writes 0 timeouts 0
2025-04-24 15:23:46 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36328/37152
2025-04-24 15:23:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:46 [info] currentZPosition:0.0920
2025-04-24 15:23:48 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:48 [debug] Diagnostics for board 50:
2025-04-24 15:23:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:53 ago, cause: software
2025-04-24 15:23:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:48 [debug] Moves scheduled 39668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 816087105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:23:48 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17685, writes 0 timeouts 0
2025-04-24 15:23:48 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36045/37102
2025-04-24 15:23:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:48 [info] currentZPosition:0.0921
2025-04-24 15:23:49 [debug] Stopped at height 0.093 mm
2025-04-24 15:23:49 [debug] Diagnostics for board 50:
2025-04-24 15:23:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:54 ago, cause: software
2025-04-24 15:23:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:49 [debug] Moves scheduled 39672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 815070329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:23:49 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17054, writes 0 timeouts 0
2025-04-24 15:23:49 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36349/37075
2025-04-24 15:23:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:49 [info] currentZPosition:0.0927
2025-04-24 15:23:51 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:51 [debug] Diagnostics for board 50:
2025-04-24 15:23:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:25:55 ago, cause: software
2025-04-24 15:23:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:51 [debug] Moves scheduled 39676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 813973403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:23:51 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18404, writes 0 timeouts 0
2025-04-24 15:23:51 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36038/37120
2025-04-24 15:23:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:51 [info] currentZPosition:0.0906
2025-04-24 15:23:51 [debug] Stopped at height 0.090 mm
2025-04-24 15:23:52 [debug] Stopped at height 0.094 mm
2025-04-24 15:23:52 [debug] Diagnostics for board 50:
2025-04-24 15:23:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:57 ago, cause: software
2025-04-24 15:23:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:52 [debug] Moves scheduled 39682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 812771927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:23:52 [debug] Driver 0: pos -3502, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20155, writes 0 timeouts 0
2025-04-24 15:23:52 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36353/37123
2025-04-24 15:23:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9021, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:52 [info] currentZPosition:0.0935
2025-04-24 15:23:53 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:54 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:54 [debug] Diagnostics for board 50:
2025-04-24 15:23:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:25:59 ago, cause: software
2025-04-24 15:23:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:54 [debug] Moves scheduled 39688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 811430250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:23:54 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22503, writes 0 timeouts 0
2025-04-24 15:23:54 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36031/37148
2025-04-24 15:23:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:54 [info] currentZPosition:0.0914
2025-04-24 15:23:54 [debug] Stopped at height 0.089 mm
2025-04-24 15:23:55 [debug] Stopped at height 0.088 mm
2025-04-24 15:23:56 [debug] Stopped at height 0.091 mm
2025-04-24 15:23:56 [debug] Diagnostics for board 50:
2025-04-24 15:23:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:01 ago, cause: software
2025-04-24 15:23:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:56 [debug] Moves scheduled 39696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 809903406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:23:56 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25631, writes 0 timeouts 0
2025-04-24 15:23:56 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36362/37136
2025-04-24 15:23:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:56 [info] currentZPosition:0.0907
2025-04-24 15:23:56 [debug] Stopped at height 0.089 mm
2025-04-24 15:23:58 [debug] Stopped at height 0.093 mm
2025-04-24 15:23:58 [debug] Diagnostics for board 50:
2025-04-24 15:23:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:03 ago, cause: software
2025-04-24 15:23:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:58 [debug] Moves scheduled 39702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 61, peak jitter -2/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 808660910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:23:58 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20878, writes 0 timeouts 0
2025-04-24 15:23:58 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36050/37153
2025-04-24 15:23:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9052, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:58 [info] currentZPosition:0.0932
2025-04-24 15:23:58 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:59 [debug] Stopped at height 0.092 mm
2025-04-24 15:23:59 [debug] Diagnostics for board 50:
2025-04-24 15:23:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:23:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:04 ago, cause: software
2025-04-24 15:23:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:23:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:23:59 [debug] Moves scheduled 39708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 807373432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:23:59 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21563, writes 0 timeouts 0
2025-04-24 15:23:59 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36313/37131
2025-04-24 15:23:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:23:59 [info] currentZPosition:0.0920
2025-04-24 15:24:01 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:01 [debug] Diagnostics for board 50:
2025-04-24 15:24:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:06 ago, cause: software
2025-04-24 15:24:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:01 [debug] Moves scheduled 39712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 806315729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:24:01 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17753, writes 0 timeouts 0
2025-04-24 15:24:01 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36045/37098
2025-04-24 15:24:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:01 [info] currentZPosition:0.0919
2025-04-24 15:24:02 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:02 [debug] Diagnostics for board 50:
2025-04-24 15:24:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:26:07 ago, cause: software
2025-04-24 15:24:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:02 [debug] Moves scheduled 39716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 805309432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:24:02 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16902, writes 0 timeouts 0
2025-04-24 15:24:02 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36351/37093
2025-04-24 15:24:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9070, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:02 [info] currentZPosition:0.0927
2025-04-24 15:24:04 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:04 [debug] Diagnostics for board 50:
2025-04-24 15:24:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:08 ago, cause: software
2025-04-24 15:24:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:04 [debug] Moves scheduled 39720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 104, peak jitter 1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 804234692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:24:04 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18003, writes 0 timeouts 0
2025-04-24 15:24:04 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37166
2025-04-24 15:24:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:04 [info] currentZPosition:0.0917
2025-04-24 15:24:05 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:05 [debug] Diagnostics for board 50:
2025-04-24 15:24:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:10 ago, cause: software
2025-04-24 15:24:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:05 [debug] Moves scheduled 39724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8928, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 803215072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:24:05 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17111, writes 0 timeouts 0
2025-04-24 15:24:05 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36350/37139
2025-04-24 15:24:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:05 [info] currentZPosition:0.0919
2025-04-24 15:24:06 [debug] Stopped at height 0.091 mm
2025-04-24 15:24:06 [debug] Diagnostics for board 50:
2025-04-24 15:24:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:11 ago, cause: software
2025-04-24 15:24:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:06 [debug] Moves scheduled 39728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 802150392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:24:06 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17894, writes 0 timeouts 0
2025-04-24 15:24:06 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36050/37132
2025-04-24 15:24:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:06 [info] currentZPosition:0.0914
2025-04-24 15:24:08 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:08 [debug] Diagnostics for board 50:
2025-04-24 15:24:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:13 ago, cause: software
2025-04-24 15:24:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:08 [debug] Moves scheduled 39732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 109, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 801140328 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:24:08 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16929, writes 0 timeouts 0
2025-04-24 15:24:08 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36289/37148
2025-04-24 15:24:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:08 [info] currentZPosition:0.0923
2025-04-24 15:24:09 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:09 [debug] Diagnostics for board 50:
2025-04-24 15:24:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:14 ago, cause: software
2025-04-24 15:24:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:09 [debug] Moves scheduled 39736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 799986851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:24:09 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20464, writes 0 timeouts 0
2025-04-24 15:24:09 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36063/37103
2025-04-24 15:24:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:09 [info] currentZPosition:0.0927
2025-04-24 15:24:11 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:11 [debug] Diagnostics for board 50:
2025-04-24 15:24:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:16 ago, cause: software
2025-04-24 15:24:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:11 [debug] Moves scheduled 39740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 798880817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:24:11 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17467, writes 0 timeouts 0
2025-04-24 15:24:11 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36350/37109
2025-04-24 15:24:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:11 [info] currentZPosition:0.0918
2025-04-24 15:24:12 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:12 [debug] Diagnostics for board 50:
2025-04-24 15:24:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:17 ago, cause: software
2025-04-24 15:24:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:12 [debug] Moves scheduled 39744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 797825595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:24:12 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17695, writes 0 timeouts 0
2025-04-24 15:24:12 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36049/37096
2025-04-24 15:24:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:12 [info] currentZPosition:0.0920
2025-04-24 15:24:13 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:13 [debug] Diagnostics for board 50:
2025-04-24 15:24:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:18 ago, cause: software
2025-04-24 15:24:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:13 [debug] Moves scheduled 39748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 796792100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:24:13 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17338, writes 0 timeouts 0
2025-04-24 15:24:13 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36302/37147
2025-04-24 15:24:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:14 [info] currentZPosition:0.0918
2025-04-24 15:24:15 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:15 [debug] Diagnostics for board 50:
2025-04-24 15:24:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:20 ago, cause: software
2025-04-24 15:24:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:15 [debug] Moves scheduled 39752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 795741886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:24:15 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17658, writes 0 timeouts 0
2025-04-24 15:24:15 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36017/37134
2025-04-24 15:24:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:15 [info] currentZPosition:0.0921
2025-04-24 15:24:16 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:16 [debug] Diagnostics for board 50:
2025-04-24 15:24:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:21 ago, cause: software
2025-04-24 15:24:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:16 [debug] Moves scheduled 39756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 794711051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:24:16 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17270, writes 0 timeouts 0
2025-04-24 15:24:16 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36348/37143
2025-04-24 15:24:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:16 [info] currentZPosition:0.0919
2025-04-24 15:24:18 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:18 [debug] Diagnostics for board 50:
2025-04-24 15:24:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:23 ago, cause: software
2025-04-24 15:24:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:18 [debug] Moves scheduled 39760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 793647969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:24:18 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17847, writes 0 timeouts 0
2025-04-24 15:24:18 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36074/37084
2025-04-24 15:24:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:18 [info] currentZPosition:0.0917
2025-04-24 15:24:19 [debug] Stopped at height 0.090 mm
2025-04-24 15:24:19 [debug] Diagnostics for board 50:
2025-04-24 15:24:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:26:24 ago, cause: software
2025-04-24 15:24:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:19 [debug] Moves scheduled 39764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 792596151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:24:19 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17645, writes 0 timeouts 0
2025-04-24 15:24:19 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36322/37119
2025-04-24 15:24:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9236, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:19 [info] currentZPosition:0.0904
2025-04-24 15:24:20 [debug] Stopped at height 0.089 mm
2025-04-24 15:24:21 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:21 [debug] Diagnostics for board 50:
2025-04-24 15:24:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:26 ago, cause: software
2025-04-24 15:24:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:21 [debug] Moves scheduled 39770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 791317151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:24:21 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21472, writes 0 timeouts 0
2025-04-24 15:24:21 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36057/37101
2025-04-24 15:24:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:21 [info] currentZPosition:0.0917
2025-04-24 15:24:21 [debug] Stopped at height 0.090 mm
2025-04-24 15:24:22 [debug] Stopped at height 0.094 mm
2025-04-24 15:24:22 [debug] Diagnostics for board 50:
2025-04-24 15:24:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:27 ago, cause: software
2025-04-24 15:24:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:22 [debug] Moves scheduled 39776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 790098566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:24:22 [debug] Driver 0: pos -3505, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20458, writes 0 timeouts 0
2025-04-24 15:24:22 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36328/37146
2025-04-24 15:24:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9041, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:22 [info] currentZPosition:0.0937
2025-04-24 15:24:23 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:24 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:24 [debug] Diagnostics for board 50:
2025-04-24 15:24:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:29 ago, cause: software
2025-04-24 15:24:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:24 [debug] Moves scheduled 39782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 97, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 788776111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:24:24 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22171, writes 0 timeouts 0
2025-04-24 15:24:24 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 36051/37104
2025-04-24 15:24:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:24 [info] currentZPosition:0.0923
2025-04-24 15:24:26 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:26 [debug] Diagnostics for board 50:
2025-04-24 15:24:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:30 ago, cause: software
2025-04-24 15:24:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:26 [debug] Moves scheduled 39786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 787743357 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:24:26 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17340, writes 0 timeouts 0
2025-04-24 15:24:26 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36326/37106
2025-04-24 15:24:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:26 [info] currentZPosition:0.0917
2025-04-24 15:24:27 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:27 [debug] Diagnostics for board 50:
2025-04-24 15:24:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:26:32 ago, cause: software
2025-04-24 15:24:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:27 [debug] Moves scheduled 39790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 786702819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:24:27 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17455, writes 0 timeouts 0
2025-04-24 15:24:27 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36056/37113
2025-04-24 15:24:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:27 [info] currentZPosition:0.0927
2025-04-24 15:24:28 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:28 [debug] Diagnostics for board 50:
2025-04-24 15:24:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:33 ago, cause: software
2025-04-24 15:24:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:28 [debug] Moves scheduled 39794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 785668371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:24:28 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17357, writes 0 timeouts 0
2025-04-24 15:24:28 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36247/37117
2025-04-24 15:24:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:28 [info] currentZPosition:0.0922
2025-04-24 15:24:30 [debug] Stopped at height 0.094 mm
2025-04-24 15:24:30 [debug] Diagnostics for board 50:
2025-04-24 15:24:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:35 ago, cause: software
2025-04-24 15:24:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:30 [debug] Moves scheduled 39798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 784640057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:24:30 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17254, writes 0 timeouts 0
2025-04-24 15:24:30 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35997/37122
2025-04-24 15:24:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:30 [info] currentZPosition:0.0936
2025-04-24 15:24:30 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:31 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:31 [debug] Diagnostics for board 50:
2025-04-24 15:24:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:36 ago, cause: software
2025-04-24 15:24:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:31 [debug] Moves scheduled 39804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 78, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 783370545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:24:31 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21291, writes 0 timeouts 0
2025-04-24 15:24:31 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 36069/37145
2025-04-24 15:24:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:31 [info] currentZPosition:0.0928
2025-04-24 15:24:33 [debug] Stopped at height 0.094 mm
2025-04-24 15:24:33 [debug] Diagnostics for board 50:
2025-04-24 15:24:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:38 ago, cause: software
2025-04-24 15:24:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:33 [debug] Moves scheduled 39808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 90, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 782329193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:24:33 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17484, writes 0 timeouts 0
2025-04-24 15:24:33 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36059/37091
2025-04-24 15:24:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9025, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:33 [info] currentZPosition:0.0936
2025-04-24 15:24:34 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:34 [debug] Diagnostics for board 50:
2025-04-24 15:24:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:39 ago, cause: software
2025-04-24 15:24:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:34 [debug] Moves scheduled 39812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 781284050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:24:34 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17525, writes 0 timeouts 0
2025-04-24 15:24:34 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36066/37111
2025-04-24 15:24:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:34 [info] currentZPosition:0.0923
2025-04-24 15:24:35 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:36 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:36 [debug] Diagnostics for board 50:
2025-04-24 15:24:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:41 ago, cause: software
2025-04-24 15:24:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:36 [debug] Moves scheduled 39818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 780002061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:24:36 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21530, writes 0 timeouts 0
2025-04-24 15:24:36 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36060/37092
2025-04-24 15:24:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:36 [info] currentZPosition:0.0926
2025-04-24 15:24:37 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:37 [debug] Diagnostics for board 50:
2025-04-24 15:24:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:42 ago, cause: software
2025-04-24 15:24:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:37 [debug] Moves scheduled 39822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 778984232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:24:37 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17072, writes 0 timeouts 0
2025-04-24 15:24:37 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36086/37159
2025-04-24 15:24:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9069, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:37 [info] currentZPosition:0.0928
2025-04-24 15:24:39 [debug] Stopped at height 0.091 mm
2025-04-24 15:24:39 [debug] Diagnostics for board 50:
2025-04-24 15:24:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:44 ago, cause: software
2025-04-24 15:24:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:39 [debug] Moves scheduled 39826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 110, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 777897529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:24:39 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18216, writes 0 timeouts 0
2025-04-24 15:24:39 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36078/37134
2025-04-24 15:24:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9182, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:39 [info] currentZPosition:0.0912
2025-04-24 15:24:39 [debug] Stopped at height 0.091 mm
2025-04-24 15:24:40 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:40 [debug] Diagnostics for board 50:
2025-04-24 15:24:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:45 ago, cause: software
2025-04-24 15:24:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:40 [debug] Moves scheduled 39832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 110, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 776676109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:24:40 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20512, writes 0 timeouts 0
2025-04-24 15:24:40 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36111/37104
2025-04-24 15:24:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:40 [info] currentZPosition:0.0929
2025-04-24 15:24:41 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:42 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:42 [debug] Diagnostics for board 50:
2025-04-24 15:24:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:47 ago, cause: software
2025-04-24 15:24:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:42 [debug] Moves scheduled 39838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 775386545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:24:42 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21631, writes 0 timeouts 0
2025-04-24 15:24:42 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36027/37143
2025-04-24 15:24:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:42 [info] currentZPosition:0.0931
2025-04-24 15:24:42 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:44 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:44 [debug] Diagnostics for board 50:
2025-04-24 15:24:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:49 ago, cause: software
2025-04-24 15:24:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:44 [debug] Moves scheduled 39844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 87, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 774131587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:24:44 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21067, writes 0 timeouts 0
2025-04-24 15:24:44 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36063/37102
2025-04-24 15:24:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:44 [info] currentZPosition:0.0931
2025-04-24 15:24:44 [debug] Stopped at height 0.091 mm
2025-04-24 15:24:45 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:45 [debug] Diagnostics for board 50:
2025-04-24 15:24:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:50 ago, cause: software
2025-04-24 15:24:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:45 [debug] Moves scheduled 39850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 772839930 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:24:45 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21683, writes 0 timeouts 0
2025-04-24 15:24:45 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36097/37102
2025-04-24 15:24:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:46 [info] currentZPosition:0.0931
2025-04-24 15:24:46 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:47 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:47 [debug] Diagnostics for board 50:
2025-04-24 15:24:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:52 ago, cause: software
2025-04-24 15:24:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:47 [debug] Moves scheduled 39856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 771577073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:24:47 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21192, writes 0 timeouts 0
2025-04-24 15:24:47 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36144/37102
2025-04-24 15:24:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:47 [info] currentZPosition:0.0926
2025-04-24 15:24:48 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:48 [debug] Diagnostics for board 50:
2025-04-24 15:24:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:26:53 ago, cause: software
2025-04-24 15:24:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:48 [debug] Moves scheduled 39860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 770521388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:24:48 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17744, writes 0 timeouts 0
2025-04-24 15:24:48 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36028/37160
2025-04-24 15:24:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:49 [info] currentZPosition:0.0928
2025-04-24 15:24:50 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:50 [debug] Diagnostics for board 50:
2025-04-24 15:24:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:55 ago, cause: software
2025-04-24 15:24:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:50 [debug] Moves scheduled 39864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15306
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 769502592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:24:50 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17071, writes 0 timeouts 0
2025-04-24 15:24:50 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36104/37102
2025-04-24 15:24:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:50 [info] currentZPosition:0.0931
2025-04-24 15:24:51 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:51 [debug] Diagnostics for board 50:
2025-04-24 15:24:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:26:56 ago, cause: software
2025-04-24 15:24:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:51 [debug] Moves scheduled 39868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 768429630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:24:51 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18005, writes 0 timeouts 0
2025-04-24 15:24:51 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36005/37095
2025-04-24 15:24:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:51 [info] currentZPosition:0.0923
2025-04-24 15:24:53 [debug] Stopped at height 0.091 mm
2025-04-24 15:24:53 [debug] Diagnostics for board 50:
2025-04-24 15:24:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:26:58 ago, cause: software
2025-04-24 15:24:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:53 [debug] Moves scheduled 39872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 98, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 767387282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:24:53 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17512, writes 0 timeouts 0
2025-04-24 15:24:53 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36090/37104
2025-04-24 15:24:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9231, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:53 [info] currentZPosition:0.0911
2025-04-24 15:24:53 [debug] Stopped at height 0.089 mm
2025-04-24 15:24:53 [debug] Stopped at height 0.089 mm
2025-04-24 15:24:55 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:55 [debug] Diagnostics for board 50:
2025-04-24 15:24:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:00 ago, cause: software
2025-04-24 15:24:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:55 [debug] Moves scheduled 39880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 765864051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:24:55 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25541, writes 0 timeouts 0
2025-04-24 15:24:55 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36070/37155
2025-04-24 15:24:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:55 [info] currentZPosition:0.0922
2025-04-24 15:24:55 [debug] Stopped at height 0.091 mm
2025-04-24 15:24:56 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:56 [debug] Diagnostics for board 50:
2025-04-24 15:24:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:01 ago, cause: software
2025-04-24 15:24:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:56 [debug] Moves scheduled 39886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 764614983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:24:56 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20954, writes 0 timeouts 0
2025-04-24 15:24:56 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36132/37136
2025-04-24 15:24:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:56 [info] currentZPosition:0.0932
2025-04-24 15:24:57 [debug] Stopped at height 0.092 mm
2025-04-24 15:24:58 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:58 [debug] Diagnostics for board 50:
2025-04-24 15:24:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:03 ago, cause: software
2025-04-24 15:24:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:58 [debug] Moves scheduled 39892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 763312389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:24:58 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21886, writes 0 timeouts 0
2025-04-24 15:24:58 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36008/37157
2025-04-24 15:24:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:24:58 [info] currentZPosition:0.0926
2025-04-24 15:24:59 [debug] Stopped at height 0.093 mm
2025-04-24 15:24:59 [debug] Diagnostics for board 50:
2025-04-24 15:24:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:24:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:04 ago, cause: software
2025-04-24 15:24:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:24:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:24:59 [debug] Moves scheduled 39896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 762297967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:24:59 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17011, writes 0 timeouts 0
2025-04-24 15:24:59 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36073/37129
2025-04-24 15:24:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:00 [info] currentZPosition:0.0930
2025-04-24 15:25:01 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:01 [debug] Diagnostics for board 50:
2025-04-24 15:25:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:06 ago, cause: software
2025-04-24 15:25:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:01 [debug] Moves scheduled 39900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 62, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 761239800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:25:01 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17754, writes 0 timeouts 0
2025-04-24 15:25:01 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36004/37123
2025-04-24 15:25:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:01 [info] currentZPosition:0.0931
2025-04-24 15:25:02 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:02 [debug] Diagnostics for board 50:
2025-04-24 15:25:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:07 ago, cause: software
2025-04-24 15:25:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:02 [debug] Moves scheduled 39904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 760218619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:25:02 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17141, writes 0 timeouts 0
2025-04-24 15:25:02 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36115/37122
2025-04-24 15:25:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:02 [info] currentZPosition:0.0931
2025-04-24 15:25:04 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:04 [debug] Diagnostics for board 50:
2025-04-24 15:25:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:09 ago, cause: software
2025-04-24 15:25:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:04 [debug] Moves scheduled 39908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 759156957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:25:04 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17790, writes 0 timeouts 0
2025-04-24 15:25:04 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36015/37125
2025-04-24 15:25:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:04 [info] currentZPosition:0.0929
2025-04-24 15:25:05 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:05 [debug] Diagnostics for board 50:
2025-04-24 15:25:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:10 ago, cause: software
2025-04-24 15:25:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:05 [debug] Moves scheduled 39912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 758126946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:25:05 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17292, writes 0 timeouts 0
2025-04-24 15:25:05 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36055/37120
2025-04-24 15:25:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:05 [info] currentZPosition:0.0925
2025-04-24 15:25:06 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:06 [debug] Diagnostics for board 50:
2025-04-24 15:25:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:11 ago, cause: software
2025-04-24 15:25:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:06 [debug] Moves scheduled 39916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 757098862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:25:06 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17272, writes 0 timeouts 0
2025-04-24 15:25:06 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36026/37120
2025-04-24 15:25:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9073, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:06 [info] currentZPosition:0.0940
2025-04-24 15:25:07 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:08 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:08 [debug] Diagnostics for board 50:
2025-04-24 15:25:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:13 ago, cause: software
2025-04-24 15:25:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:08 [debug] Moves scheduled 39922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 755821571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:25:08 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21409, writes 0 timeouts 0
2025-04-24 15:25:08 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36103/37118
2025-04-24 15:25:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:08 [info] currentZPosition:0.0932
2025-04-24 15:25:10 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:10 [debug] Diagnostics for board 50:
2025-04-24 15:25:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:14 ago, cause: software
2025-04-24 15:25:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:10 [debug] Moves scheduled 39926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter 0/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 754770579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:25:10 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17648, writes 0 timeouts 0
2025-04-24 15:25:10 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36014/37154
2025-04-24 15:25:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9112, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:10 [info] currentZPosition:0.0935
2025-04-24 15:25:11 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:11 [debug] Diagnostics for board 50:
2025-04-24 15:25:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:16 ago, cause: software
2025-04-24 15:25:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:11 [debug] Moves scheduled 39930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 109, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 753742326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:25:11 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17255, writes 0 timeouts 0
2025-04-24 15:25:11 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36118/37123
2025-04-24 15:25:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:11 [info] currentZPosition:0.0932
2025-04-24 15:25:12 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:12 [debug] Diagnostics for board 50:
2025-04-24 15:25:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:17 ago, cause: software
2025-04-24 15:25:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:12 [debug] Moves scheduled 39934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 752701208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:25:12 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17461, writes 0 timeouts 0
2025-04-24 15:25:12 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36056/37143
2025-04-24 15:25:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:12 [info] currentZPosition:0.0941
2025-04-24 15:25:14 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:14 [debug] Diagnostics for board 50:
2025-04-24 15:25:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:27:19 ago, cause: software
2025-04-24 15:25:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:14 [debug] Moves scheduled 39938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 751670136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:25:14 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17315, writes 0 timeouts 0
2025-04-24 15:25:14 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36070/37088
2025-04-24 15:25:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:14 [info] currentZPosition:0.0935
2025-04-24 15:25:15 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:15 [debug] Diagnostics for board 50:
2025-04-24 15:25:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:20 ago, cause: software
2025-04-24 15:25:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:15 [debug] Moves scheduled 39942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 750623737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:25:15 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17549, writes 0 timeouts 0
2025-04-24 15:25:15 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36030/37122
2025-04-24 15:25:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:15 [info] currentZPosition:0.0941
2025-04-24 15:25:16 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:16 [debug] Diagnostics for board 50:
2025-04-24 15:25:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:21 ago, cause: software
2025-04-24 15:25:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:16 [debug] Moves scheduled 39946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 749588534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:25:16 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17361, writes 0 timeouts 0
2025-04-24 15:25:16 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36061/37102
2025-04-24 15:25:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:17 [info] currentZPosition:0.0934
2025-04-24 15:25:18 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:18 [debug] Diagnostics for board 50:
2025-04-24 15:25:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:27:23 ago, cause: software
2025-04-24 15:25:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:18 [debug] Moves scheduled 39950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 59, peak jitter -3/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 748529469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:25:18 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17861, writes 0 timeouts 0
2025-04-24 15:25:18 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36041/37157
2025-04-24 15:25:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:18 [info] currentZPosition:0.0933
2025-04-24 15:25:19 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:19 [debug] Diagnostics for board 50:
2025-04-24 15:25:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:24 ago, cause: software
2025-04-24 15:25:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:19 [debug] Moves scheduled 39954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 0/4, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 747500900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:25:19 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17184, writes 0 timeouts 0
2025-04-24 15:25:19 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36149/37079
2025-04-24 15:25:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:19 [info] currentZPosition:0.0932
2025-04-24 15:25:21 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:21 [debug] Diagnostics for board 50:
2025-04-24 15:25:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:26 ago, cause: software
2025-04-24 15:25:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:21 [debug] Moves scheduled 39958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 168, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 746447131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:25:21 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17694, writes 0 timeouts 0
2025-04-24 15:25:21 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36001/37117
2025-04-24 15:25:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:21 [info] currentZPosition:0.0933
2025-04-24 15:25:22 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:22 [debug] Diagnostics for board 50:
2025-04-24 15:25:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:27 ago, cause: software
2025-04-24 15:25:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:22 [debug] Moves scheduled 39962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 745410093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:25:22 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17375, writes 0 timeouts 0
2025-04-24 15:25:22 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36055/37090
2025-04-24 15:25:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:22 [info] currentZPosition:0.0925
2025-04-24 15:25:23 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:23 [debug] Diagnostics for board 50:
2025-04-24 15:25:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:27:28 ago, cause: software
2025-04-24 15:25:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:23 [debug] Moves scheduled 39966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 92, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 744363715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:25:23 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17590, writes 0 timeouts 0
2025-04-24 15:25:23 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36056/37167
2025-04-24 15:25:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:23 [info] currentZPosition:0.0931
2025-04-24 15:25:25 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:25 [debug] Diagnostics for board 50:
2025-04-24 15:25:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:30 ago, cause: software
2025-04-24 15:25:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:25 [debug] Moves scheduled 39970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 743341514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:25:25 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17148, writes 0 timeouts 0
2025-04-24 15:25:25 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36202/37114
2025-04-24 15:25:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:25 [info] currentZPosition:0.0931
2025-04-24 15:25:26 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:26 [debug] Diagnostics for board 50:
2025-04-24 15:25:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:31 ago, cause: software
2025-04-24 15:25:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:26 [debug] Moves scheduled 39974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 742289498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:25:26 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17653, writes 0 timeouts 0
2025-04-24 15:25:26 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36008/37116
2025-04-24 15:25:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:26 [info] currentZPosition:0.0934
2025-04-24 15:25:27 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:27 [debug] Diagnostics for board 50:
2025-04-24 15:25:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:27:32 ago, cause: software
2025-04-24 15:25:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:27 [debug] Moves scheduled 39978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 741284005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:25:27 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16880, writes 0 timeouts 0
2025-04-24 15:25:27 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36329/37115
2025-04-24 15:25:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:28 [info] currentZPosition:0.0944
2025-04-24 15:25:29 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:29 [debug] Diagnostics for board 50:
2025-04-24 15:25:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:27:34 ago, cause: software
2025-04-24 15:25:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:29 [debug] Moves scheduled 39982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 740195818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:25:29 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18273, writes 0 timeouts 0
2025-04-24 15:25:29 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36026/37097
2025-04-24 15:25:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:29 [info] currentZPosition:0.0926
2025-04-24 15:25:29 [debug] Stopped at height 0.091 mm
2025-04-24 15:25:31 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:31 [debug] Diagnostics for board 50:
2025-04-24 15:25:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:36 ago, cause: software
2025-04-24 15:25:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:31 [debug] Moves scheduled 39988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 738941246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:25:31 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21043, writes 0 timeouts 0
2025-04-24 15:25:31 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36329/37087
2025-04-24 15:25:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:31 [info] currentZPosition:0.0934
2025-04-24 15:25:31 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:32 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:32 [debug] Diagnostics for board 50:
2025-04-24 15:25:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:37 ago, cause: software
2025-04-24 15:25:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:32 [debug] Moves scheduled 39994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -3/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 737643110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:25:32 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21782, writes 0 timeouts 0
2025-04-24 15:25:32 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36031/37103
2025-04-24 15:25:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:32 [info] currentZPosition:0.0930
2025-04-24 15:25:34 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:34 [debug] Diagnostics for board 50:
2025-04-24 15:25:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:27:39 ago, cause: software
2025-04-24 15:25:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:34 [debug] Moves scheduled 39998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 79, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 736610105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:25:34 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17323, writes 0 timeouts 0
2025-04-24 15:25:34 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 427, adv 36345/37089
2025-04-24 15:25:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:34 [info] currentZPosition:0.0925
2025-04-24 15:25:35 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:35 [debug] Diagnostics for board 50:
2025-04-24 15:25:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:40 ago, cause: software
2025-04-24 15:25:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:35 [debug] Moves scheduled 40002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 735568137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:25:35 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17507, writes 0 timeouts 0
2025-04-24 15:25:35 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36013/37130
2025-04-24 15:25:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:35 [info] currentZPosition:0.0934
2025-04-24 15:25:36 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:36 [debug] Diagnostics for board 50:
2025-04-24 15:25:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:41 ago, cause: software
2025-04-24 15:25:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:36 [debug] Moves scheduled 40006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 734559925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:25:36 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16936, writes 0 timeouts 0
2025-04-24 15:25:36 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36288/37114
2025-04-24 15:25:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:37 [info] currentZPosition:0.0943
2025-04-24 15:25:38 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:38 [debug] Diagnostics for board 50:
2025-04-24 15:25:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:27:43 ago, cause: software
2025-04-24 15:25:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:38 [debug] Moves scheduled 40010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 733488231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:25:38 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17972, writes 0 timeouts 0
2025-04-24 15:25:38 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36036/37095
2025-04-24 15:25:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:38 [info] currentZPosition:0.0936
2025-04-24 15:25:39 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:39 [debug] Diagnostics for board 50:
2025-04-24 15:25:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:44 ago, cause: software
2025-04-24 15:25:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:39 [debug] Moves scheduled 40014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 732468487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:25:39 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17101, writes 0 timeouts 0
2025-04-24 15:25:39 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36310/37105
2025-04-24 15:25:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:39 [info] currentZPosition:0.0939
2025-04-24 15:25:41 [debug] Stopped at height 0.095 mm
2025-04-24 15:25:41 [debug] Diagnostics for board 50:
2025-04-24 15:25:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:46 ago, cause: software
2025-04-24 15:25:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:41 [debug] Moves scheduled 40018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 82, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 731421974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:25:41 [debug] Driver 0: pos -3513, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17558, writes 0 timeouts 0
2025-04-24 15:25:41 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36053/37100
2025-04-24 15:25:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:41 [info] currentZPosition:0.0945
2025-04-24 15:25:42 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:42 [debug] Diagnostics for board 50:
2025-04-24 15:25:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:47 ago, cause: software
2025-04-24 15:25:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:42 [debug] Moves scheduled 40022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 730371928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:25:42 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17630, writes 0 timeouts 0
2025-04-24 15:25:42 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36338/37135
2025-04-24 15:25:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:42 [info] currentZPosition:0.0931
2025-04-24 15:25:42 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:44 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:44 [debug] Diagnostics for board 50:
2025-04-24 15:25:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:49 ago, cause: software
2025-04-24 15:25:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:44 [debug] Moves scheduled 40028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 729090168 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:25:44 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21506, writes 0 timeouts 0
2025-04-24 15:25:44 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36053/37130
2025-04-24 15:25:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:44 [info] currentZPosition:0.0938
2025-04-24 15:25:45 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:45 [debug] Diagnostics for board 50:
2025-04-24 15:25:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:50 ago, cause: software
2025-04-24 15:25:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:45 [debug] Moves scheduled 40032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 71, peak jitter -1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 728070283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:25:45 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17113, writes 0 timeouts 0
2025-04-24 15:25:45 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36327/37101
2025-04-24 15:25:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:45 [info] currentZPosition:0.0940
2025-04-24 15:25:47 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:47 [debug] Diagnostics for board 50:
2025-04-24 15:25:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:27:51 ago, cause: software
2025-04-24 15:25:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:47 [debug] Moves scheduled 40036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 727009289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:25:47 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17807, writes 0 timeouts 0
2025-04-24 15:25:47 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35995/37118
2025-04-24 15:25:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:47 [info] currentZPosition:0.0937
2025-04-24 15:25:48 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:48 [debug] Diagnostics for board 50:
2025-04-24 15:25:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:53 ago, cause: software
2025-04-24 15:25:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:48 [debug] Moves scheduled 40040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10135, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 725978262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:25:48 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17303, writes 0 timeouts 0
2025-04-24 15:25:48 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36346/37114
2025-04-24 15:25:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:48 [info] currentZPosition:0.0937
2025-04-24 15:25:49 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:49 [debug] Diagnostics for board 50:
2025-04-24 15:25:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:54 ago, cause: software
2025-04-24 15:25:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:49 [debug] Moves scheduled 40044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 724932543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:25:49 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17549, writes 0 timeouts 0
2025-04-24 15:25:49 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35992/37120
2025-04-24 15:25:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:49 [info] currentZPosition:0.0944
2025-04-24 15:25:51 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:51 [debug] Diagnostics for board 50:
2025-04-24 15:25:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:56 ago, cause: software
2025-04-24 15:25:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:51 [debug] Moves scheduled 40048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 723878680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:25:51 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17681, writes 0 timeouts 0
2025-04-24 15:25:51 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36294/37093
2025-04-24 15:25:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:51 [info] currentZPosition:0.0927
2025-04-24 15:25:51 [debug] Stopped at height 0.091 mm
2025-04-24 15:25:52 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:52 [debug] Diagnostics for board 50:
2025-04-24 15:25:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:57 ago, cause: software
2025-04-24 15:25:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:52 [debug] Moves scheduled 40054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 722584914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:25:52 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21712, writes 0 timeouts 0
2025-04-24 15:25:52 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36019/37123
2025-04-24 15:25:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:53 [info] currentZPosition:0.0934
2025-04-24 15:25:53 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:54 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:54 [debug] Diagnostics for board 50:
2025-04-24 15:25:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:27:59 ago, cause: software
2025-04-24 15:25:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:54 [debug] Moves scheduled 40060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 721328158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:25:54 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21087, writes 0 timeouts 0
2025-04-24 15:25:54 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36350/37167
2025-04-24 15:25:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:54 [info] currentZPosition:0.0934
2025-04-24 15:25:55 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:55 [debug] Diagnostics for board 50:
2025-04-24 15:25:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:28:00 ago, cause: software
2025-04-24 15:25:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:55 [debug] Moves scheduled 40064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 720282821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:25:55 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17556, writes 0 timeouts 0
2025-04-24 15:25:55 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36006/37126
2025-04-24 15:25:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:56 [info] currentZPosition:0.0940
2025-04-24 15:25:57 [debug] Stopped at height 0.094 mm
2025-04-24 15:25:57 [debug] Diagnostics for board 50:
2025-04-24 15:25:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:28:02 ago, cause: software
2025-04-24 15:25:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:57 [debug] Moves scheduled 40068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 72, peak jitter -1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 719257317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:25:57 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17188, writes 0 timeouts 0
2025-04-24 15:25:57 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36335/37096
2025-04-24 15:25:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:57 [info] currentZPosition:0.0941
2025-04-24 15:25:58 [debug] Stopped at height 0.093 mm
2025-04-24 15:25:58 [debug] Diagnostics for board 50:
2025-04-24 15:25:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:25:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:03 ago, cause: software
2025-04-24 15:25:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:25:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:25:58 [debug] Moves scheduled 40072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 718177365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:25:58 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18114, writes 0 timeouts 0
2025-04-24 15:25:58 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35993/37166
2025-04-24 15:25:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:25:58 [info] currentZPosition:0.0929
2025-04-24 15:26:00 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:00 [debug] Diagnostics for board 50:
2025-04-24 15:26:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:28:05 ago, cause: software
2025-04-24 15:26:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:00 [debug] Moves scheduled 40076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 91, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 717173192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:26:00 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16876, writes 0 timeouts 0
2025-04-24 15:26:00 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36353/37119
2025-04-24 15:26:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:00 [info] currentZPosition:0.0939
2025-04-24 15:26:01 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:01 [debug] Diagnostics for board 50:
2025-04-24 15:26:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:28:06 ago, cause: software
2025-04-24 15:26:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:01 [debug] Moves scheduled 40080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 716120735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:26:01 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17647, writes 0 timeouts 0
2025-04-24 15:26:01 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35990/37116
2025-04-24 15:26:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:01 [info] currentZPosition:0.0940
2025-04-24 15:26:02 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:02 [debug] Diagnostics for board 50:
2025-04-24 15:26:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:07 ago, cause: software
2025-04-24 15:26:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:02 [debug] Moves scheduled 40084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 98, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 715086150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:26:02 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17363, writes 0 timeouts 0
2025-04-24 15:26:02 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36314/37110
2025-04-24 15:26:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:03 [info] currentZPosition:0.0935
2025-04-24 15:26:04 [debug] Stopped at height 0.093 mm
2025-04-24 15:26:04 [debug] Diagnostics for board 50:
2025-04-24 15:26:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:09 ago, cause: software
2025-04-24 15:26:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:04 [debug] Moves scheduled 40088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 714025434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:04 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17832, writes 0 timeouts 0
2025-04-24 15:26:04 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36020/37094
2025-04-24 15:26:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:04 [info] currentZPosition:0.0934
2025-04-24 15:26:05 [debug] Stopped at height 0.093 mm
2025-04-24 15:26:05 [debug] Diagnostics for board 50:
2025-04-24 15:26:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:10 ago, cause: software
2025-04-24 15:26:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:05 [debug] Moves scheduled 40092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 712996517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:26:05 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17239, writes 0 timeouts 0
2025-04-24 15:26:05 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36312/37133
2025-04-24 15:26:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:05 [info] currentZPosition:0.0932
2025-04-24 15:26:07 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:07 [debug] Diagnostics for board 50:
2025-04-24 15:26:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:28:11 ago, cause: software
2025-04-24 15:26:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:07 [debug] Moves scheduled 40096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 711958798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:26:07 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17418, writes 0 timeouts 0
2025-04-24 15:26:07 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36015/37096
2025-04-24 15:26:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:07 [info] currentZPosition:0.0943
2025-04-24 15:26:08 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:08 [debug] Diagnostics for board 50:
2025-04-24 15:26:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:13 ago, cause: software
2025-04-24 15:26:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:08 [debug] Moves scheduled 40100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 710933703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:26:08 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17224, writes 0 timeouts 0
2025-04-24 15:26:08 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36317/37149
2025-04-24 15:26:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:08 [info] currentZPosition:0.0943
2025-04-24 15:26:09 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:09 [debug] Diagnostics for board 50:
2025-04-24 15:26:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:14 ago, cause: software
2025-04-24 15:26:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:09 [debug] Moves scheduled 40104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 709868383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:26:09 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17848, writes 0 timeouts 0
2025-04-24 15:26:09 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36078/37114
2025-04-24 15:26:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:09 [info] currentZPosition:0.0939
2025-04-24 15:26:11 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:11 [debug] Diagnostics for board 50:
2025-04-24 15:26:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:16 ago, cause: software
2025-04-24 15:26:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:11 [debug] Moves scheduled 40108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15306
Sync err accum 62, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 708857422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:26:11 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16958, writes 0 timeouts 0
2025-04-24 15:26:11 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36331/37128
2025-04-24 15:26:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:11 [info] currentZPosition:0.0947
2025-04-24 15:26:12 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:12 [debug] Diagnostics for board 50:
2025-04-24 15:26:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:17 ago, cause: software
2025-04-24 15:26:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:12 [debug] Moves scheduled 40112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 707801336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:26:12 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17751, writes 0 timeouts 0
2025-04-24 15:26:12 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36041/37130
2025-04-24 15:26:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:12 [info] currentZPosition:0.0948
2025-04-24 15:26:14 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:14 [debug] Diagnostics for board 50:
2025-04-24 15:26:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:18 ago, cause: software
2025-04-24 15:26:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:14 [debug] Moves scheduled 40116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 706754074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:26:14 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17547, writes 0 timeouts 0
2025-04-24 15:26:14 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36333/37134
2025-04-24 15:26:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:14 [info] currentZPosition:0.0936
2025-04-24 15:26:15 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:15 [debug] Diagnostics for board 50:
2025-04-24 15:26:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:20 ago, cause: software
2025-04-24 15:26:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:15 [debug] Moves scheduled 40120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 705715264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:26:15 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17428, writes 0 timeouts 0
2025-04-24 15:26:15 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36027/37096
2025-04-24 15:26:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:15 [info] currentZPosition:0.0947
2025-04-24 15:26:16 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:16 [debug] Diagnostics for board 50:
2025-04-24 15:26:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:21 ago, cause: software
2025-04-24 15:26:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:16 [debug] Moves scheduled 40124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 704694518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:26:16 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17155, writes 0 timeouts 0
2025-04-24 15:26:16 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36303/37133
2025-04-24 15:26:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:16 [info] currentZPosition:0.0948
2025-04-24 15:26:18 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:18 [debug] Diagnostics for board 50:
2025-04-24 15:26:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:28:23 ago, cause: software
2025-04-24 15:26:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:18 [debug] Moves scheduled 40128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 703628102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:26:18 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17875, writes 0 timeouts 0
2025-04-24 15:26:18 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36070/37133
2025-04-24 15:26:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:18 [info] currentZPosition:0.0943
2025-04-24 15:26:19 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:19 [debug] Diagnostics for board 50:
2025-04-24 15:26:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:28:24 ago, cause: software
2025-04-24 15:26:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:19 [debug] Moves scheduled 40132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 702617974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:26:19 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16923, writes 0 timeouts 0
2025-04-24 15:26:19 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36207/37124
2025-04-24 15:26:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:19 [info] currentZPosition:0.0949
2025-04-24 15:26:21 [debug] Stopped at height 0.092 mm
2025-04-24 15:26:21 [debug] Diagnostics for board 50:
2025-04-24 15:26:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:25 ago, cause: software
2025-04-24 15:26:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:21 [debug] Moves scheduled 40136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 701516740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:26:21 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18499, writes 0 timeouts 0
2025-04-24 15:26:21 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36017/37167
2025-04-24 15:26:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9234, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:21 [info] currentZPosition:0.0923
2025-04-24 15:26:21 [debug] Stopped at height 0.091 mm
2025-04-24 15:26:22 [debug] Stopped at height 0.093 mm
2025-04-24 15:26:22 [debug] Diagnostics for board 50:
2025-04-24 15:26:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:27 ago, cause: software
2025-04-24 15:26:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:22 [debug] Moves scheduled 40142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 700265879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:26:22 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20954, writes 0 timeouts 0
2025-04-24 15:26:22 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36143/37117
2025-04-24 15:26:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:22 [info] currentZPosition:0.0930
2025-04-24 15:26:23 [debug] Stopped at height 0.092 mm
2025-04-24 15:26:24 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:24 [debug] Diagnostics for board 50:
2025-04-24 15:26:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:28:29 ago, cause: software
2025-04-24 15:26:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:24 [debug] Moves scheduled 40148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 698991764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:24 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21387, writes 0 timeouts 0
2025-04-24 15:26:24 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36076/37131
2025-04-24 15:26:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:24 [info] currentZPosition:0.0938
2025-04-24 15:26:24 [debug] Stopped at height 0.092 mm
2025-04-24 15:26:26 [debug] Stopped at height 0.093 mm
2025-04-24 15:26:26 [debug] Diagnostics for board 50:
2025-04-24 15:26:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:30 ago, cause: software
2025-04-24 15:26:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:26 [debug] Moves scheduled 40154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 82, peak jitter 1/3, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 697725894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:26:26 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22845, writes 0 timeouts 0
2025-04-24 15:26:26 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36078/37118
2025-04-24 15:26:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:26 [info] currentZPosition:0.0934
2025-04-24 15:26:27 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:27 [debug] Diagnostics for board 50:
2025-04-24 15:26:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:32 ago, cause: software
2025-04-24 15:26:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:27 [debug] Moves scheduled 40158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 696525420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:26:27 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18538, writes 0 timeouts 0
2025-04-24 15:26:27 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36084/37146
2025-04-24 15:26:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:27 [info] currentZPosition:0.0946
2025-04-24 15:26:29 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:29 [debug] Diagnostics for board 50:
2025-04-24 15:26:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:33 ago, cause: software
2025-04-24 15:26:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:29 [debug] Moves scheduled 40162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 695498696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:29 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17230, writes 0 timeouts 0
2025-04-24 15:26:29 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36097/37160
2025-04-24 15:26:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:29 [info] currentZPosition:0.0943
2025-04-24 15:26:30 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:30 [debug] Diagnostics for board 50:
2025-04-24 15:26:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:35 ago, cause: software
2025-04-24 15:26:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:30 [debug] Moves scheduled 40166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15306
Sync err accum 91, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 694434339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:26:30 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17847, writes 0 timeouts 0
2025-04-24 15:26:30 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36055/37113
2025-04-24 15:26:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:30 [info] currentZPosition:0.0939
2025-04-24 15:26:31 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:31 [debug] Diagnostics for board 50:
2025-04-24 15:26:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:36 ago, cause: software
2025-04-24 15:26:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:31 [debug] Moves scheduled 40170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 693412111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:31 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17159, writes 0 timeouts 0
2025-04-24 15:26:31 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36062/37121
2025-04-24 15:26:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:31 [info] currentZPosition:0.0937
2025-04-24 15:26:33 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:33 [debug] Diagnostics for board 50:
2025-04-24 15:26:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:38 ago, cause: software
2025-04-24 15:26:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:33 [debug] Moves scheduled 40174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 692352986 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:26:33 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17784, writes 0 timeouts 0
2025-04-24 15:26:33 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36101/37084
2025-04-24 15:26:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9169, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:33 [info] currentZPosition:0.0935
2025-04-24 15:26:34 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:34 [debug] Diagnostics for board 50:
2025-04-24 15:26:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:39 ago, cause: software
2025-04-24 15:26:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:34 [debug] Moves scheduled 40178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 691350796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:26:34 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16825, writes 0 timeouts 0
2025-04-24 15:26:34 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36076/37106
2025-04-24 15:26:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:34 [info] currentZPosition:0.0946
2025-04-24 15:26:35 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:35 [debug] Diagnostics for board 50:
2025-04-24 15:26:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:28:40 ago, cause: software
2025-04-24 15:26:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:35 [debug] Moves scheduled 40182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 690283524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:26:35 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17888, writes 0 timeouts 0
2025-04-24 15:26:35 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36057/37116
2025-04-24 15:26:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:36 [info] currentZPosition:0.0942
2025-04-24 15:26:37 [debug] Stopped at height 0.096 mm
2025-04-24 15:26:37 [debug] Diagnostics for board 50:
2025-04-24 15:26:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:28:42 ago, cause: software
2025-04-24 15:26:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:37 [debug] Moves scheduled 40186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 689285830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:37 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16742, writes 0 timeouts 0
2025-04-24 15:26:37 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36161/37103
2025-04-24 15:26:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:37 [info] currentZPosition:0.0956
2025-04-24 15:26:37 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:39 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:39 [debug] Diagnostics for board 50:
2025-04-24 15:26:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:43 ago, cause: software
2025-04-24 15:26:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:39 [debug] Moves scheduled 40192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 687975119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:26:39 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21985, writes 0 timeouts 0
2025-04-24 15:26:39 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35993/37139
2025-04-24 15:26:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:39 [info] currentZPosition:0.0945
2025-04-24 15:26:40 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:40 [debug] Diagnostics for board 50:
2025-04-24 15:26:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:45 ago, cause: software
2025-04-24 15:26:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:40 [debug] Moves scheduled 40196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 686960676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:26:40 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17044, writes 0 timeouts 0
2025-04-24 15:26:40 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36072/37163
2025-04-24 15:26:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:40 [info] currentZPosition:0.0948
2025-04-24 15:26:41 [debug] Stopped at height 0.096 mm
2025-04-24 15:26:41 [debug] Diagnostics for board 50:
2025-04-24 15:26:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:46 ago, cause: software
2025-04-24 15:26:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:41 [debug] Moves scheduled 40200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 685915016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:41 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17543, writes 0 timeouts 0
2025-04-24 15:26:41 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36052/37158
2025-04-24 15:26:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:41 [info] currentZPosition:0.0955
2025-04-24 15:26:43 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:43 [debug] Diagnostics for board 50:
2025-04-24 15:26:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:48 ago, cause: software
2025-04-24 15:26:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:43 [debug] Moves scheduled 40204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 120, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 684885416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:26:43 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17287, writes 0 timeouts 0
2025-04-24 15:26:43 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36067/37159
2025-04-24 15:26:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9086, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:43 [info] currentZPosition:0.0951
2025-04-24 15:26:44 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:44 [debug] Diagnostics for board 50:
2025-04-24 15:26:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:49 ago, cause: software
2025-04-24 15:26:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:44 [debug] Moves scheduled 40208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 125, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 683810729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:44 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18031, writes 0 timeouts 0
2025-04-24 15:26:44 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 35784/37151
2025-04-24 15:26:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:44 [info] currentZPosition:0.0943
2025-04-24 15:26:45 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:45 [debug] Diagnostics for board 50:
2025-04-24 15:26:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:50 ago, cause: software
2025-04-24 15:26:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:45 [debug] Moves scheduled 40212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 126, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 682794992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:45 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17051, writes 0 timeouts 0
2025-04-24 15:26:45 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36134/37119
2025-04-24 15:26:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:46 [info] currentZPosition:0.0948
2025-04-24 15:26:47 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:47 [debug] Diagnostics for board 50:
2025-04-24 15:26:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:52 ago, cause: software
2025-04-24 15:26:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:47 [debug] Moves scheduled 40216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 121, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 681730099 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:26:47 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17858, writes 0 timeouts 0
2025-04-24 15:26:47 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36092/37112
2025-04-24 15:26:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:47 [info] currentZPosition:0.0944
2025-04-24 15:26:48 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:48 [debug] Diagnostics for board 50:
2025-04-24 15:26:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:28:53 ago, cause: software
2025-04-24 15:26:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:48 [debug] Moves scheduled 40220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 111, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 680721349 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:26:48 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16924, writes 0 timeouts 0
2025-04-24 15:26:48 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36111/37117
2025-04-24 15:26:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:48 [info] currentZPosition:0.0952
2025-04-24 15:26:50 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:50 [debug] Diagnostics for board 50:
2025-04-24 15:26:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:28:55 ago, cause: software
2025-04-24 15:26:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:50 [debug] Moves scheduled 40224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 679651827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:26:50 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17943, writes 0 timeouts 0
2025-04-24 15:26:50 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36041/37099
2025-04-24 15:26:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:50 [info] currentZPosition:0.0947
2025-04-24 15:26:51 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:51 [debug] Diagnostics for board 50:
2025-04-24 15:26:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:56 ago, cause: software
2025-04-24 15:26:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:51 [debug] Moves scheduled 40228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 678615582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:26:51 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17406, writes 0 timeouts 0
2025-04-24 15:26:51 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36158/37088
2025-04-24 15:26:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:51 [info] currentZPosition:0.0938
2025-04-24 15:26:52 [debug] Stopped at height 0.096 mm
2025-04-24 15:26:52 [debug] Diagnostics for board 50:
2025-04-24 15:26:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:28:57 ago, cause: software
2025-04-24 15:26:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:52 [debug] Moves scheduled 40232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -3/-3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 677589720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:26:52 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17231, writes 0 timeouts 0
2025-04-24 15:26:52 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36031/37120
2025-04-24 15:26:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9081, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:53 [info] currentZPosition:0.0955
2025-04-24 15:26:53 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:54 [debug] Stopped at height 0.093 mm
2025-04-24 15:26:54 [debug] Diagnostics for board 50:
2025-04-24 15:26:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:28:59 ago, cause: software
2025-04-24 15:26:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:54 [debug] Moves scheduled 40238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter -4/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 676298677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:26:54 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21651, writes 0 timeouts 0
2025-04-24 15:26:54 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36071/37121
2025-04-24 15:26:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9220, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:54 [info] currentZPosition:0.0934
2025-04-24 15:26:55 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:55 [debug] Diagnostics for board 50:
2025-04-24 15:26:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:29:00 ago, cause: software
2025-04-24 15:26:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:55 [debug] Moves scheduled 40242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 675275466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:26:55 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17176, writes 0 timeouts 0
2025-04-24 15:26:55 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36021/37135
2025-04-24 15:26:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:56 [info] currentZPosition:0.0952
2025-04-24 15:26:56 [debug] Stopped at height 0.093 mm
2025-04-24 15:26:57 [debug] Stopped at height 0.094 mm
2025-04-24 15:26:57 [debug] Diagnostics for board 50:
2025-04-24 15:26:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:02 ago, cause: software
2025-04-24 15:26:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:57 [debug] Moves scheduled 40248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 674005521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:26:57 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21305, writes 0 timeouts 0
2025-04-24 15:26:57 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36054/37161
2025-04-24 15:26:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:57 [info] currentZPosition:0.0942
2025-04-24 15:26:58 [debug] Stopped at height 0.093 mm
2025-04-24 15:26:59 [debug] Stopped at height 0.095 mm
2025-04-24 15:26:59 [debug] Diagnostics for board 50:
2025-04-24 15:26:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:26:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:04 ago, cause: software
2025-04-24 15:26:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:26:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:26:59 [debug] Moves scheduled 40254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 672727476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:26:59 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21475, writes 0 timeouts 0
2025-04-24 15:26:59 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36051/37120
2025-04-24 15:26:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:26:59 [info] currentZPosition:0.0950
2025-04-24 15:26:59 [debug] Stopped at height 0.093 mm
2025-04-24 15:27:01 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:01 [debug] Diagnostics for board 50:
2025-04-24 15:27:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:29:05 ago, cause: software
2025-04-24 15:27:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:01 [debug] Moves scheduled 40260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 671472683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:27:01 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21024, writes 0 timeouts 0
2025-04-24 15:27:01 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36112/37111
2025-04-24 15:27:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:01 [info] currentZPosition:0.0950
2025-04-24 15:27:01 [debug] Stopped at height 0.093 mm
2025-04-24 15:27:02 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:02 [debug] Diagnostics for board 50:
2025-04-24 15:27:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:29:07 ago, cause: software
2025-04-24 15:27:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:02 [debug] Moves scheduled 40266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 117, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 670178246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:27:02 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21764, writes 0 timeouts 0
2025-04-24 15:27:02 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36099/37140
2025-04-24 15:27:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:02 [info] currentZPosition:0.0949
2025-04-24 15:27:03 [debug] Stopped at height 0.093 mm
2025-04-24 15:27:04 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:04 [debug] Diagnostics for board 50:
2025-04-24 15:27:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:09 ago, cause: software
2025-04-24 15:27:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:04 [debug] Moves scheduled 40272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15306
Sync err accum 112, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 668930456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:27:04 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20904, writes 0 timeouts 0
2025-04-24 15:27:04 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36081/37144
2025-04-24 15:27:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:04 [info] currentZPosition:0.0955
2025-04-24 15:27:04 [debug] Stopped at height 0.094 mm
2025-04-24 15:27:06 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:06 [debug] Diagnostics for board 50:
2025-04-24 15:27:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:11 ago, cause: software
2025-04-24 15:27:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:06 [debug] Moves scheduled 40278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 667645592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:27:06 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21572, writes 0 timeouts 0
2025-04-24 15:27:06 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36078/37124
2025-04-24 15:27:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:06 [info] currentZPosition:0.0958
2025-04-24 15:27:06 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:07 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:07 [debug] Diagnostics for board 50:
2025-04-24 15:27:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:12 ago, cause: software
2025-04-24 15:27:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:07 [debug] Moves scheduled 40284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 94, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 666384293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:27:07 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21356, writes 0 timeouts 0
2025-04-24 15:27:07 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36059/37139
2025-04-24 15:27:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:08 [info] currentZPosition:0.0956
2025-04-24 15:27:09 [debug] Stopped at height 0.097 mm
2025-04-24 15:27:09 [debug] Diagnostics for board 50:
2025-04-24 15:27:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:14 ago, cause: software
2025-04-24 15:27:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:09 [debug] Moves scheduled 40288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 665303686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 
2025-04-24 15:27:09 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17960, writes 0 timeouts 0
2025-04-24 15:27:09 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36057/37170
2025-04-24 15:27:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9051, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:09 [info] currentZPosition:0.0966
2025-04-24 15:27:10 [debug] Stopped at height 0.097 mm
2025-04-24 15:27:10 [debug] Diagnostics for board 50:
2025-04-24 15:27:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:15 ago, cause: software
2025-04-24 15:27:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:10 [debug] Moves scheduled 40292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 68, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 664283067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:27:10 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 0 timeouts 0
2025-04-24 15:27:10 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36092/37144
2025-04-24 15:27:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9054, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:10 [info] currentZPosition:0.0967
2025-04-24 15:27:12 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:12 [debug] Diagnostics for board 50:
2025-04-24 15:27:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:16 ago, cause: software
2025-04-24 15:27:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:12 [debug] Moves scheduled 40296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 154, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 663198853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:27:12 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18207, writes 0 timeouts 0
2025-04-24 15:27:12 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36054/37138
2025-04-24 15:27:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:12 [info] currentZPosition:0.0954
2025-04-24 15:27:12 [debug] Stopped at height 0.094 mm
2025-04-24 15:27:13 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:13 [debug] Diagnostics for board 50:
2025-04-24 15:27:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:18 ago, cause: software
2025-04-24 15:27:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:13 [debug] Moves scheduled 40302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 661929647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:27:13 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21282, writes 0 timeouts 0
2025-04-24 15:27:13 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36071/37077
2025-04-24 15:27:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:13 [info] currentZPosition:0.0953
2025-04-24 15:27:15 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:15 [debug] Diagnostics for board 50:
2025-04-24 15:27:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:20 ago, cause: software
2025-04-24 15:27:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:15 [debug] Moves scheduled 40306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 660864539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:27:15 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17863, writes 0 timeouts 0
2025-04-24 15:27:15 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36013/37105
2025-04-24 15:27:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:15 [info] currentZPosition:0.0951
2025-04-24 15:27:16 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:16 [debug] Diagnostics for board 50:
2025-04-24 15:27:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:21 ago, cause: software
2025-04-24 15:27:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:16 [debug] Moves scheduled 40310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 659848536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:16 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17081, writes 0 timeouts 0
2025-04-24 15:27:16 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36230/37150
2025-04-24 15:27:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:16 [info] currentZPosition:0.0954
2025-04-24 15:27:17 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:17 [debug] Diagnostics for board 50:
2025-04-24 15:27:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:22 ago, cause: software
2025-04-24 15:27:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:17 [debug] Moves scheduled 40314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 658777801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:27:17 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17939, writes 0 timeouts 0
2025-04-24 15:27:17 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35996/37088
2025-04-24 15:27:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:18 [info] currentZPosition:0.0947
2025-04-24 15:27:19 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:19 [debug] Diagnostics for board 50:
2025-04-24 15:27:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:24 ago, cause: software
2025-04-24 15:27:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:19 [debug] Moves scheduled 40318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 657776031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:27:19 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16808, writes 0 timeouts 0
2025-04-24 15:27:19 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36344/37096
2025-04-24 15:27:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:19 [info] currentZPosition:0.0959
2025-04-24 15:27:20 [debug] Stopped at height 0.094 mm
2025-04-24 15:27:20 [debug] Diagnostics for board 50:
2025-04-24 15:27:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:25 ago, cause: software
2025-04-24 15:27:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:20 [debug] Moves scheduled 40322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 656682967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:27:20 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18363, writes 0 timeouts 0
2025-04-24 15:27:20 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36026/37113
2025-04-24 15:27:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:20 [info] currentZPosition:0.0937
2025-04-24 15:27:21 [debug] Stopped at height 0.091 mm
2025-04-24 15:27:21 [debug] Stopped at height 0.090 mm
2025-04-24 15:27:22 [debug] Stopped at height 0.097 mm
2025-04-24 15:27:22 [debug] Diagnostics for board 50:
2025-04-24 15:27:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:27 ago, cause: software
2025-04-24 15:27:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:22 [debug] Moves scheduled 40330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15625
Sync err accum 65, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 655218968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:22 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24555, writes 0 timeouts 0
2025-04-24 15:27:22 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36288/37147
2025-04-24 15:27:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:22 [info] currentZPosition:0.0965
2025-04-24 15:27:23 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:24 [debug] Stopped at height 0.093 mm
2025-04-24 15:27:24 [debug] Diagnostics for board 50:
2025-04-24 15:27:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:29 ago, cause: software
2025-04-24 15:27:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:24 [debug] Moves scheduled 40336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 653856692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:24 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22854, writes 0 timeouts 0
2025-04-24 15:27:24 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36006/37154
2025-04-24 15:27:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:24 [info] currentZPosition:0.0931
2025-04-24 15:27:24 [debug] Stopped at height 0.093 mm
2025-04-24 15:27:26 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:26 [debug] Diagnostics for board 50:
2025-04-24 15:27:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:31 ago, cause: software
2025-04-24 15:27:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:26 [debug] Moves scheduled 40342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 652647828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:27:26 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20281, writes 0 timeouts 0
2025-04-24 15:27:26 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36319/37122
2025-04-24 15:27:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:26 [info] currentZPosition:0.0960
2025-04-24 15:27:26 [debug] Stopped at height 0.094 mm
2025-04-24 15:27:26 [debug] Stopped at height 0.094 mm
2025-04-24 15:27:28 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:28 [debug] Diagnostics for board 50:
2025-04-24 15:27:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:33 ago, cause: software
2025-04-24 15:27:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:28 [debug] Moves scheduled 40350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 651110226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:28 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25813, writes 0 timeouts 0
2025-04-24 15:27:28 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36069/37144
2025-04-24 15:27:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:28 [info] currentZPosition:0.0962
2025-04-24 15:27:28 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:29 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:29 [debug] Diagnostics for board 50:
2025-04-24 15:27:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:34 ago, cause: software
2025-04-24 15:27:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:29 [debug] Moves scheduled 40356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 649837691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:27:29 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21356, writes 0 timeouts 0
2025-04-24 15:27:29 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36308/37144
2025-04-24 15:27:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:30 [info] currentZPosition:0.0959
2025-04-24 15:27:31 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:31 [debug] Diagnostics for board 50:
2025-04-24 15:27:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:36 ago, cause: software
2025-04-24 15:27:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:31 [debug] Moves scheduled 40360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 648776368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:27:31 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17805, writes 0 timeouts 0
2025-04-24 15:27:31 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36049/37101
2025-04-24 15:27:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:31 [info] currentZPosition:0.0957
2025-04-24 15:27:32 [debug] Stopped at height 0.097 mm
2025-04-24 15:27:32 [debug] Diagnostics for board 50:
2025-04-24 15:27:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:37 ago, cause: software
2025-04-24 15:27:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:32 [debug] Moves scheduled 40364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 647774711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:27:32 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16808, writes 0 timeouts 0
2025-04-24 15:27:32 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36321/37139
2025-04-24 15:27:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:32 [info] currentZPosition:0.0968
2025-04-24 15:27:34 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:34 [debug] Diagnostics for board 50:
2025-04-24 15:27:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:38 ago, cause: software
2025-04-24 15:27:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:34 [debug] Moves scheduled 40368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 646700791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:27:34 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18030, writes 0 timeouts 0
2025-04-24 15:27:34 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36023/37144
2025-04-24 15:27:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:34 [info] currentZPosition:0.0961
2025-04-24 15:27:35 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:35 [debug] Diagnostics for board 50:
2025-04-24 15:27:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:40 ago, cause: software
2025-04-24 15:27:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:35 [debug] Moves scheduled 40372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 645655916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:27:35 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17528, writes 0 timeouts 0
2025-04-24 15:27:35 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36355/37115
2025-04-24 15:27:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:35 [info] currentZPosition:0.0952
2025-04-24 15:27:36 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:36 [debug] Diagnostics for board 50:
2025-04-24 15:27:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:29:41 ago, cause: software
2025-04-24 15:27:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:36 [debug] Moves scheduled 40376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 644604561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:27:36 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17639, writes 0 timeouts 0
2025-04-24 15:27:36 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36010/37149
2025-04-24 15:27:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:36 [info] currentZPosition:0.0955
2025-04-24 15:27:38 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:38 [debug] Diagnostics for board 50:
2025-04-24 15:27:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:43 ago, cause: software
2025-04-24 15:27:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:38 [debug] Moves scheduled 40380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 643591587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:27:38 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16998, writes 0 timeouts 0
2025-04-24 15:27:38 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36329/37154
2025-04-24 15:27:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:38 [info] currentZPosition:0.0960
2025-04-24 15:27:39 [debug] Stopped at height 0.097 mm
2025-04-24 15:27:39 [debug] Diagnostics for board 50:
2025-04-24 15:27:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:44 ago, cause: software
2025-04-24 15:27:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:39 [debug] Moves scheduled 40384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 642548800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:27:39 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17513, writes 0 timeouts 0
2025-04-24 15:27:39 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36046/37131
2025-04-24 15:27:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9089, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:39 [info] currentZPosition:0.0968
2025-04-24 15:27:41 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:41 [debug] Diagnostics for board 50:
2025-04-24 15:27:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:45 ago, cause: software
2025-04-24 15:27:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:41 [debug] Moves scheduled 40388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 641514249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:41 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17367, writes 0 timeouts 0
2025-04-24 15:27:41 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36336/37102
2025-04-24 15:27:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:41 [info] currentZPosition:0.0962
2025-04-24 15:27:42 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:42 [debug] Diagnostics for board 50:
2025-04-24 15:27:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:47 ago, cause: software
2025-04-24 15:27:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:42 [debug] Moves scheduled 40392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 640448377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:42 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17895, writes 0 timeouts 0
2025-04-24 15:27:42 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36055/37151
2025-04-24 15:27:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:42 [info] currentZPosition:0.0958
2025-04-24 15:27:43 [debug] Stopped at height 0.097 mm
2025-04-24 15:27:43 [debug] Diagnostics for board 50:
2025-04-24 15:27:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:48 ago, cause: software
2025-04-24 15:27:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:43 [debug] Moves scheduled 40396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 639452701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:27:43 [debug] Driver 0: pos -3506, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16686, writes 0 timeouts 0
2025-04-24 15:27:43 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36300/37138
2025-04-24 15:27:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 826
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:43 [info] currentZPosition:0.0974
2025-04-24 15:27:44 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:45 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:45 [debug] Diagnostics for board 50:
2025-04-24 15:27:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:29:50 ago, cause: software
2025-04-24 15:27:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:45 [debug] Moves scheduled 40402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 638131483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:27:45 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22184, writes 0 timeouts 0
2025-04-24 15:27:45 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36019/37098
2025-04-24 15:27:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:45 [info] currentZPosition:0.0954
2025-04-24 15:27:46 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:46 [debug] Diagnostics for board 50:
2025-04-24 15:27:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:51 ago, cause: software
2025-04-24 15:27:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:46 [debug] Moves scheduled 40406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 637113411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 34
2025-04-24 15:27:46 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17091, writes 0 timeouts 0
2025-04-24 15:27:46 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36310/37109
2025-04-24 15:27:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:46 [info] currentZPosition:0.0958
2025-04-24 15:27:48 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:48 [debug] Diagnostics for board 50:
2025-04-24 15:27:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:53 ago, cause: software
2025-04-24 15:27:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:48 [debug] Moves scheduled 40410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 636040304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:48 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18003, writes 0 timeouts 0
2025-04-24 15:27:48 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36108/37120
2025-04-24 15:27:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:48 [info] currentZPosition:0.0949
2025-04-24 15:27:49 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:49 [debug] Diagnostics for board 50:
2025-04-24 15:27:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:54 ago, cause: software
2025-04-24 15:27:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:49 [debug] Moves scheduled 40414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 635031505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:27:49 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16929, writes 0 timeouts 0
2025-04-24 15:27:49 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36333/37130
2025-04-24 15:27:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:49 [info] currentZPosition:0.0956
2025-04-24 15:27:51 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:51 [debug] Diagnostics for board 50:
2025-04-24 15:27:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:29:55 ago, cause: software
2025-04-24 15:27:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:51 [debug] Moves scheduled 40418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 633978958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:51 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17667, writes 0 timeouts 0
2025-04-24 15:27:51 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36028/37143
2025-04-24 15:27:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:51 [info] currentZPosition:0.0960
2025-04-24 15:27:52 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:52 [debug] Diagnostics for board 50:
2025-04-24 15:27:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:29:57 ago, cause: software
2025-04-24 15:27:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:52 [debug] Moves scheduled 40422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 632957859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:27:52 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17128, writes 0 timeouts 0
2025-04-24 15:27:52 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36322/37112
2025-04-24 15:27:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:52 [info] currentZPosition:0.0962
2025-04-24 15:27:53 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:53 [debug] Diagnostics for board 50:
2025-04-24 15:27:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:29:58 ago, cause: software
2025-04-24 15:27:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:53 [debug] Moves scheduled 40426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 631879017 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:27:53 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18106, writes 0 timeouts 0
2025-04-24 15:27:53 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36019/37155
2025-04-24 15:27:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:53 [info] currentZPosition:0.0949
2025-04-24 15:27:54 [debug] Stopped at height 0.094 mm
2025-04-24 15:27:55 [debug] Stopped at height 0.097 mm
2025-04-24 15:27:55 [debug] Diagnostics for board 50:
2025-04-24 15:27:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:00 ago, cause: software
2025-04-24 15:27:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:55 [debug] Moves scheduled 40432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 630644697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:27:55 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20711, writes 0 timeouts 0
2025-04-24 15:27:55 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36302/37162
2025-04-24 15:27:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:55 [info] currentZPosition:0.0965
2025-04-24 15:27:55 [debug] Stopped at height 0.095 mm
2025-04-24 15:27:57 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:57 [debug] Diagnostics for board 50:
2025-04-24 15:27:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:02 ago, cause: software
2025-04-24 15:27:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:57 [debug] Moves scheduled 40438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 629335283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:27:57 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21965, writes 0 timeouts 0
2025-04-24 15:27:57 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36018/37164
2025-04-24 15:27:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:57 [info] currentZPosition:0.0955
2025-04-24 15:27:58 [debug] Stopped at height 0.096 mm
2025-04-24 15:27:58 [debug] Diagnostics for board 50:
2025-04-24 15:27:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:27:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:03 ago, cause: software
2025-04-24 15:27:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:27:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:27:58 [debug] Moves scheduled 40442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 628319325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:27:58 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17087, writes 0 timeouts 0
2025-04-24 15:27:58 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36345/37101
2025-04-24 15:27:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:27:58 [info] currentZPosition:0.0961
2025-04-24 15:28:00 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:00 [debug] Diagnostics for board 50:
2025-04-24 15:28:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:04 ago, cause: software
2025-04-24 15:28:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:00 [debug] Moves scheduled 40446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 627266813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:28:00 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17643, writes 0 timeouts 0
2025-04-24 15:28:00 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36033/37118
2025-04-24 15:28:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:00 [info] currentZPosition:0.0965
2025-04-24 15:28:01 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:01 [debug] Diagnostics for board 50:
2025-04-24 15:28:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:06 ago, cause: software
2025-04-24 15:28:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:01 [debug] Moves scheduled 40450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 626245194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:28:01 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17133, writes 0 timeouts 0
2025-04-24 15:28:01 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36398/37140
2025-04-24 15:28:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:01 [info] currentZPosition:0.0966
2025-04-24 15:28:02 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:02 [debug] Diagnostics for board 50:
2025-04-24 15:28:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:07 ago, cause: software
2025-04-24 15:28:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:02 [debug] Moves scheduled 40454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 625174189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:02 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17998, writes 0 timeouts 0
2025-04-24 15:28:02 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36026/37067
2025-04-24 15:28:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:02 [info] currentZPosition:0.0958
2025-04-24 15:28:04 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:04 [debug] Diagnostics for board 50:
2025-04-24 15:28:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:09 ago, cause: software
2025-04-24 15:28:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:04 [debug] Moves scheduled 40458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 624153770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:28:04 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17093, writes 0 timeouts 0
2025-04-24 15:28:04 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36300/37130
2025-04-24 15:28:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:04 [info] currentZPosition:0.0960
2025-04-24 15:28:05 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:05 [debug] Diagnostics for board 50:
2025-04-24 15:28:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:10 ago, cause: software
2025-04-24 15:28:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:05 [debug] Moves scheduled 40462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 623121520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:05 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17359, writes 0 timeouts 0
2025-04-24 15:28:05 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36033/37121
2025-04-24 15:28:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9072, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:05 [info] currentZPosition:0.0972
2025-04-24 15:28:06 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:06 [debug] Diagnostics for board 50:
2025-04-24 15:28:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:11 ago, cause: software
2025-04-24 15:28:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:06 [debug] Moves scheduled 40466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 622095308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:06 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17214, writes 0 timeouts 0
2025-04-24 15:28:06 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36350/37121
2025-04-24 15:28:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:07 [info] currentZPosition:0.0970
2025-04-24 15:28:08 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:08 [debug] Diagnostics for board 50:
2025-04-24 15:28:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:13 ago, cause: software
2025-04-24 15:28:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:08 [debug] Moves scheduled 40470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 621028854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:28:08 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17876, writes 0 timeouts 0
2025-04-24 15:28:08 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36026/37121
2025-04-24 15:28:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:08 [info] currentZPosition:0.0965
2025-04-24 15:28:09 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:09 [debug] Diagnostics for board 50:
2025-04-24 15:28:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:14 ago, cause: software
2025-04-24 15:28:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:09 [debug] Moves scheduled 40474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=714, max=15000
Sync err accum 83, peak jitter 1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 620006360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: m
2025-04-24 15:28:09 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 11 timeouts 1
2025-04-24 15:28:09 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36342/37121
2025-04-24 15:28:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:09 [info] currentZPosition:0.0967
2025-04-24 15:28:11 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:11 [debug] Diagnostics for board 50:
2025-04-24 15:28:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:16 ago, cause: software
2025-04-24 15:28:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:11 [debug] Moves scheduled 40478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 618947385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:28:11 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17808, writes 0 timeouts 0
2025-04-24 15:28:11 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36092/37098
2025-04-24 15:28:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:11 [info] currentZPosition:0.0966
2025-04-24 15:28:12 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:12 [debug] Diagnostics for board 50:
2025-04-24 15:28:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:17 ago, cause: software
2025-04-24 15:28:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:12 [debug] Moves scheduled 40482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 617921573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:28:12 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17175, writes 0 timeouts 0
2025-04-24 15:28:12 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36187/37111
2025-04-24 15:28:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:12 [info] currentZPosition:0.0965
2025-04-24 15:28:13 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:13 [debug] Diagnostics for board 50:
2025-04-24 15:28:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:18 ago, cause: software
2025-04-24 15:28:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:13 [debug] Moves scheduled 40486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 616848009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:28:13 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18032, writes 0 timeouts 0
2025-04-24 15:28:13 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37142
2025-04-24 15:28:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:13 [info] currentZPosition:0.0956
2025-04-24 15:28:15 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:15 [debug] Diagnostics for board 50:
2025-04-24 15:28:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:30:20 ago, cause: software
2025-04-24 15:28:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:15 [debug] Moves scheduled 40490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 615846246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:15 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16829, writes 0 timeouts 0
2025-04-24 15:28:15 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36072/37137
2025-04-24 15:28:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:15 [info] currentZPosition:0.0967
2025-04-24 15:28:16 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:16 [debug] Diagnostics for board 50:
2025-04-24 15:28:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:21 ago, cause: software
2025-04-24 15:28:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:16 [debug] Moves scheduled 40494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 614776356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:16 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17931, writes 0 timeouts 0
2025-04-24 15:28:16 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36060/37165
2025-04-24 15:28:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:16 [info] currentZPosition:0.0960
2025-04-24 15:28:18 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:18 [debug] Diagnostics for board 50:
2025-04-24 15:28:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:22 ago, cause: software
2025-04-24 15:28:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:18 [debug] Moves scheduled 40498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 70, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 613754553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:28:18 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17145, writes 0 timeouts 0
2025-04-24 15:28:18 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36147/37106
2025-04-24 15:28:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:18 [info] currentZPosition:0.0960
2025-04-24 15:28:19 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:19 [debug] Diagnostics for board 50:
2025-04-24 15:28:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:24 ago, cause: software
2025-04-24 15:28:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:19 [debug] Moves scheduled 40502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 612693542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:28:19 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17832, writes 0 timeouts 0
2025-04-24 15:28:19 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36037/37078
2025-04-24 15:28:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:19 [info] currentZPosition:0.0957
2025-04-24 15:28:20 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:20 [debug] Diagnostics for board 50:
2025-04-24 15:28:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:25 ago, cause: software
2025-04-24 15:28:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:20 [debug] Moves scheduled 40506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 611690466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:28:20 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16808, writes 0 timeouts 0
2025-04-24 15:28:20 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36063/37110
2025-04-24 15:28:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9075, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:20 [info] currentZPosition:0.0968
2025-04-24 15:28:22 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:22 [debug] Diagnostics for board 50:
2025-04-24 15:28:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:27 ago, cause: software
2025-04-24 15:28:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:22 [debug] Moves scheduled 40510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 610614725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:28:22 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18059, writes 0 timeouts 0
2025-04-24 15:28:22 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36028/37097
2025-04-24 15:28:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:22 [info] currentZPosition:0.0959
2025-04-24 15:28:23 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:23 [debug] Diagnostics for board 50:
2025-04-24 15:28:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:28 ago, cause: software
2025-04-24 15:28:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:23 [debug] Moves scheduled 40514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 609609692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:28:23 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16876, writes 0 timeouts 0
2025-04-24 15:28:23 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36087/37097
2025-04-24 15:28:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:23 [info] currentZPosition:0.0967
2025-04-24 15:28:24 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:24 [debug] Diagnostics for board 50:
2025-04-24 15:28:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:29 ago, cause: software
2025-04-24 15:28:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:24 [debug] Moves scheduled 40518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 608559031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:24 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17613, writes 0 timeouts 0
2025-04-24 15:28:24 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36016/37132
2025-04-24 15:28:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9080, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:25 [info] currentZPosition:0.0970
2025-04-24 15:28:26 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:26 [debug] Diagnostics for board 50:
2025-04-24 15:28:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:31 ago, cause: software
2025-04-24 15:28:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:26 [debug] Moves scheduled 40522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 607524792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:26 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17363, writes 0 timeouts 0
2025-04-24 15:28:26 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36108/37079
2025-04-24 15:28:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:26 [info] currentZPosition:0.0963
2025-04-24 15:28:27 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:27 [debug] Diagnostics for board 50:
2025-04-24 15:28:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:30:32 ago, cause: software
2025-04-24 15:28:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:27 [debug] Moves scheduled 40526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 606467421 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:27 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17760, writes 0 timeouts 0
2025-04-24 15:28:27 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36051/37101
2025-04-24 15:28:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:27 [info] currentZPosition:0.0963
2025-04-24 15:28:29 [debug] Stopped at height 0.095 mm
2025-04-24 15:28:29 [debug] Diagnostics for board 50:
2025-04-24 15:28:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:34 ago, cause: software
2025-04-24 15:28:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:29 [debug] Moves scheduled 40530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 605423436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:29 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17486, writes 0 timeouts 0
2025-04-24 15:28:29 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36094/37108
2025-04-24 15:28:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9207, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:29 [info] currentZPosition:0.0951
2025-04-24 15:28:30 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:30 [debug] Diagnostics for board 50:
2025-04-24 15:28:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:30:35 ago, cause: software
2025-04-24 15:28:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:30 [debug] Moves scheduled 40534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 604382213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:28:30 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17466, writes 0 timeouts 0
2025-04-24 15:28:30 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36004/37096
2025-04-24 15:28:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:30 [info] currentZPosition:0.0960
2025-04-24 15:28:31 [debug] Stopped at height 0.098 mm
2025-04-24 15:28:31 [debug] Diagnostics for board 50:
2025-04-24 15:28:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:36 ago, cause: software
2025-04-24 15:28:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:31 [debug] Moves scheduled 40538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 603396122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:28:31 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16594, writes 0 timeouts 0
2025-04-24 15:28:31 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36139/37085
2025-04-24 15:28:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9055, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:31 [info] currentZPosition:0.0978
2025-04-24 15:28:32 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:33 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:33 [debug] Diagnostics for board 50:
2025-04-24 15:28:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:38 ago, cause: software
2025-04-24 15:28:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:33 [debug] Moves scheduled 40544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 602090379 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:28:33 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21860, writes 0 timeouts 0
2025-04-24 15:28:33 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35995/37142
2025-04-24 15:28:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9088, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:33 [info] currentZPosition:0.0972
2025-04-24 15:28:34 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:34 [debug] Diagnostics for board 50:
2025-04-24 15:28:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:39 ago, cause: software
2025-04-24 15:28:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:34 [debug] Moves scheduled 40548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 601066876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 34
2025-04-24 15:28:34 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17192, writes 0 timeouts 0
2025-04-24 15:28:34 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36074/37149
2025-04-24 15:28:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:35 [info] currentZPosition:0.0971
2025-04-24 15:28:36 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:36 [debug] Diagnostics for board 50:
2025-04-24 15:28:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:41 ago, cause: software
2025-04-24 15:28:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:36 [debug] Moves scheduled 40552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 599992206 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:36 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18032, writes 0 timeouts 0
2025-04-24 15:28:36 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 35998/37155
2025-04-24 15:28:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:36 [info] currentZPosition:0.0962
2025-04-24 15:28:37 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:37 [debug] Diagnostics for board 50:
2025-04-24 15:28:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:30:42 ago, cause: software
2025-04-24 15:28:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:37 [debug] Moves scheduled 40556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 598973359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:28:37 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17090, writes 0 timeouts 0
2025-04-24 15:28:37 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36112/37164
2025-04-24 15:28:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:37 [info] currentZPosition:0.0964
2025-04-24 15:28:39 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:39 [debug] Diagnostics for board 50:
2025-04-24 15:28:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:30:44 ago, cause: software
2025-04-24 15:28:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:39 [debug] Moves scheduled 40560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 597925295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:28:39 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17597, writes 0 timeouts 0
2025-04-24 15:28:39 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36089/37156
2025-04-24 15:28:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:39 [info] currentZPosition:0.0969
2025-04-24 15:28:40 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:40 [debug] Diagnostics for board 50:
2025-04-24 15:28:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:45 ago, cause: software
2025-04-24 15:28:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:40 [debug] Moves scheduled 40564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 596897090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:28:40 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17244, writes 0 timeouts 0
2025-04-24 15:28:40 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36083/37123
2025-04-24 15:28:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:40 [info] currentZPosition:0.0966
2025-04-24 15:28:41 [debug] Stopped at height 0.098 mm
2025-04-24 15:28:41 [debug] Diagnostics for board 50:
2025-04-24 15:28:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:46 ago, cause: software
2025-04-24 15:28:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:41 [debug] Moves scheduled 40568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 595744571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:28:41 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19502, writes 0 timeouts 0
2025-04-24 15:28:41 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36057/37122
2025-04-24 15:28:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:42 [info] currentZPosition:0.0976
2025-04-24 15:28:43 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:43 [debug] Diagnostics for board 50:
2025-04-24 15:28:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:48 ago, cause: software
2025-04-24 15:28:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:43 [debug] Moves scheduled 40572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 594687090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:28:43 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17590, writes 0 timeouts 0
2025-04-24 15:28:43 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36100/37150
2025-04-24 15:28:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:43 [info] currentZPosition:0.0964
2025-04-24 15:28:44 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:44 [debug] Diagnostics for board 50:
2025-04-24 15:28:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:49 ago, cause: software
2025-04-24 15:28:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:44 [debug] Moves scheduled 40576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 593639940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:28:44 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17581, writes 0 timeouts 0
2025-04-24 15:28:44 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36018/37104
2025-04-24 15:28:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:44 [info] currentZPosition:0.0970
2025-04-24 15:28:46 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:46 [debug] Diagnostics for board 50:
2025-04-24 15:28:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:51 ago, cause: software
2025-04-24 15:28:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:46 [debug] Moves scheduled 40580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 592605461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:28:46 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17362, writes 0 timeouts 0
2025-04-24 15:28:46 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36098/37102
2025-04-24 15:28:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:46 [info] currentZPosition:0.0963
2025-04-24 15:28:47 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:47 [debug] Diagnostics for board 50:
2025-04-24 15:28:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:30:52 ago, cause: software
2025-04-24 15:28:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:47 [debug] Moves scheduled 40584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 591544628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:28:47 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17801, writes 0 timeouts 0
2025-04-24 15:28:47 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36026/37139
2025-04-24 15:28:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:47 [info] currentZPosition:0.0961
2025-04-24 15:28:48 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:48 [debug] Diagnostics for board 50:
2025-04-24 15:28:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:53 ago, cause: software
2025-04-24 15:28:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:48 [debug] Moves scheduled 40588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 590526208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:28:48 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17098, writes 0 timeouts 0
2025-04-24 15:28:48 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36103/37156
2025-04-24 15:28:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:49 [info] currentZPosition:0.0963
2025-04-24 15:28:50 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:50 [debug] Diagnostics for board 50:
2025-04-24 15:28:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:30:55 ago, cause: software
2025-04-24 15:28:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:50 [debug] Moves scheduled 40592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 589470484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:50 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17719, writes 0 timeouts 0
2025-04-24 15:28:50 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36056/37134
2025-04-24 15:28:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:50 [info] currentZPosition:0.0964
2025-04-24 15:28:51 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:51 [debug] Diagnostics for board 50:
2025-04-24 15:28:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:56 ago, cause: software
2025-04-24 15:28:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:51 [debug] Moves scheduled 40596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 588460318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:28:51 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16955, writes 0 timeouts 0
2025-04-24 15:28:51 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36068/37157
2025-04-24 15:28:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:51 [info] currentZPosition:0.0971
2025-04-24 15:28:53 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:53 [debug] Diagnostics for board 50:
2025-04-24 15:28:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:58 ago, cause: software
2025-04-24 15:28:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:53 [debug] Moves scheduled 40600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 587391433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:28:53 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17936, writes 0 timeouts 0
2025-04-24 15:28:53 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36017/37158
2025-04-24 15:28:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:53 [info] currentZPosition:0.0965
2025-04-24 15:28:54 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:54 [debug] Diagnostics for board 50:
2025-04-24 15:28:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:30:59 ago, cause: software
2025-04-24 15:28:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:54 [debug] Moves scheduled 40604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 586376902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:28:54 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17033, writes 0 timeouts 0
2025-04-24 15:28:54 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36139/37111
2025-04-24 15:28:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:54 [info] currentZPosition:0.0968
2025-04-24 15:28:55 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:55 [debug] Diagnostics for board 50:
2025-04-24 15:28:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:00 ago, cause: software
2025-04-24 15:28:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:55 [debug] Moves scheduled 40608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 585313791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:28:55 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17828, writes 0 timeouts 0
2025-04-24 15:28:55 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36046/37167
2025-04-24 15:28:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:56 [info] currentZPosition:0.0966
2025-04-24 15:28:57 [debug] Stopped at height 0.096 mm
2025-04-24 15:28:57 [debug] Diagnostics for board 50:
2025-04-24 15:28:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:02 ago, cause: software
2025-04-24 15:28:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:57 [debug] Moves scheduled 40612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 584277569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:28:57 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17382, writes 0 timeouts 0
2025-04-24 15:28:57 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36095/37112
2025-04-24 15:28:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:57 [info] currentZPosition:0.0957
2025-04-24 15:28:58 [debug] Stopped at height 0.097 mm
2025-04-24 15:28:58 [debug] Diagnostics for board 50:
2025-04-24 15:28:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:28:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:03 ago, cause: software
2025-04-24 15:28:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:28:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:28:58 [debug] Moves scheduled 40616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 583240819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:28:58 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17424, writes 0 timeouts 0
2025-04-24 15:28:58 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36017/37124
2025-04-24 15:28:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:28:58 [info] currentZPosition:0.0971
2025-04-24 15:28:59 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:00 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:00 [debug] Diagnostics for board 50:
2025-04-24 15:29:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:05 ago, cause: software
2025-04-24 15:29:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:00 [debug] Moves scheduled 40622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 581975799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:00 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21217, writes 0 timeouts 0
2025-04-24 15:29:00 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36054/37117
2025-04-24 15:29:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:00 [info] currentZPosition:0.0966
2025-04-24 15:29:01 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:01 [debug] Diagnostics for board 50:
2025-04-24 15:29:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:06 ago, cause: software
2025-04-24 15:29:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:01 [debug] Moves scheduled 40626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 580925117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:29:01 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17645, writes 0 timeouts 0
2025-04-24 15:29:01 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36024/37151
2025-04-24 15:29:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:01 [info] currentZPosition:0.0970
2025-04-24 15:29:03 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:03 [debug] Diagnostics for board 50:
2025-04-24 15:29:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:31:08 ago, cause: software
2025-04-24 15:29:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:03 [debug] Moves scheduled 40630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 579916475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:29:03 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16926, writes 0 timeouts 0
2025-04-24 15:29:03 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36080/37156
2025-04-24 15:29:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:03 [info] currentZPosition:0.0978
2025-04-24 15:29:04 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:04 [debug] Diagnostics for board 50:
2025-04-24 15:29:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:31:09 ago, cause: software
2025-04-24 15:29:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:04 [debug] Moves scheduled 40634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 578835054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:04 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18139, writes 0 timeouts 0
2025-04-24 15:29:04 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36049/37094
2025-04-24 15:29:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:04 [info] currentZPosition:0.0965
2025-04-24 15:29:05 [debug] Stopped at height 0.096 mm
2025-04-24 15:29:06 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:06 [debug] Diagnostics for board 50:
2025-04-24 15:29:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:11 ago, cause: software
2025-04-24 15:29:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:06 [debug] Moves scheduled 40640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 577591266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:29:06 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20875, writes 0 timeouts 0
2025-04-24 15:29:06 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36206/37123
2025-04-24 15:29:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:06 [info] currentZPosition:0.0977
2025-04-24 15:29:06 [debug] Stopped at height 0.095 mm
2025-04-24 15:29:07 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:07 [debug] Diagnostics for board 50:
2025-04-24 15:29:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:12 ago, cause: software
2025-04-24 15:29:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:07 [debug] Moves scheduled 40646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 576284832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:07 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21926, writes 0 timeouts 0
2025-04-24 15:29:07 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36035/37117
2025-04-24 15:29:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:08 [info] currentZPosition:0.0969
2025-04-24 15:29:08 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:09 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:09 [debug] Diagnostics for board 50:
2025-04-24 15:29:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:14 ago, cause: software
2025-04-24 15:29:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:09 [debug] Moves scheduled 40652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 575039165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:29:09 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20905, writes 0 timeouts 0
2025-04-24 15:29:09 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36315/37118
2025-04-24 15:29:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:09 [info] currentZPosition:0.0977
2025-04-24 15:29:11 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:11 [debug] Diagnostics for board 50:
2025-04-24 15:29:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:31:15 ago, cause: software
2025-04-24 15:29:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:11 [debug] Moves scheduled 40656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 573963513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:11 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18039, writes 0 timeouts 0
2025-04-24 15:29:11 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36078/37090
2025-04-24 15:29:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:11 [info] currentZPosition:0.0967
2025-04-24 15:29:12 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:12 [debug] Diagnostics for board 50:
2025-04-24 15:29:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:31:17 ago, cause: software
2025-04-24 15:29:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:12 [debug] Moves scheduled 40660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 572960216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:12 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16837, writes 0 timeouts 0
2025-04-24 15:29:12 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36336/37121
2025-04-24 15:29:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:12 [info] currentZPosition:0.0978
2025-04-24 15:29:13 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:13 [debug] Diagnostics for board 50:
2025-04-24 15:29:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:31:18 ago, cause: software
2025-04-24 15:29:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:13 [debug] Moves scheduled 40664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 571887784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:29:13 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18000, writes 0 timeouts 0
2025-04-24 15:29:13 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36024/37109
2025-04-24 15:29:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:13 [info] currentZPosition:0.0970
2025-04-24 15:29:15 [debug] Stopped at height 0.099 mm
2025-04-24 15:29:15 [debug] Diagnostics for board 50:
2025-04-24 15:29:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:20 ago, cause: software
2025-04-24 15:29:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:15 [debug] Moves scheduled 40668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 570893002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:29:15 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16688, writes 0 timeouts 0
2025-04-24 15:29:15 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36349/37141
2025-04-24 15:29:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9092, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:15 [info] currentZPosition:0.0985
2025-04-24 15:29:15 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:16 [debug] Stopped at height 0.096 mm
2025-04-24 15:29:16 [debug] Diagnostics for board 50:
2025-04-24 15:29:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:21 ago, cause: software
2025-04-24 15:29:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:16 [debug] Moves scheduled 40674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 569554849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:29:16 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22476, writes 0 timeouts 0
2025-04-24 15:29:16 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36044/37127
2025-04-24 15:29:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9225, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:17 [info] currentZPosition:0.0959
2025-04-24 15:29:17 [debug] Stopped at height 0.095 mm
2025-04-24 15:29:18 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:18 [debug] Diagnostics for board 50:
2025-04-24 15:29:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:23 ago, cause: software
2025-04-24 15:29:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:18 [debug] Moves scheduled 40680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 568321594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:18 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20671, writes 0 timeouts 0
2025-04-24 15:29:18 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36311/37151
2025-04-24 15:29:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:18 [info] currentZPosition:0.0980
2025-04-24 15:29:19 [debug] Stopped at height 0.096 mm
2025-04-24 15:29:20 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:20 [debug] Diagnostics for board 50:
2025-04-24 15:29:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:25 ago, cause: software
2025-04-24 15:29:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:20 [debug] Moves scheduled 40686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 567031977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:29:20 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21651, writes 0 timeouts 0
2025-04-24 15:29:20 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36091/37144
2025-04-24 15:29:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:20 [info] currentZPosition:0.0979
2025-04-24 15:29:20 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:21 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:21 [debug] Diagnostics for board 50:
2025-04-24 15:29:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:26 ago, cause: software
2025-04-24 15:29:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:21 [debug] Moves scheduled 40692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 565768780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:29:21 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21219, writes 0 timeouts 0
2025-04-24 15:29:21 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36312/37164
2025-04-24 15:29:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:22 [info] currentZPosition:0.0980
2025-04-24 15:29:23 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:23 [debug] Diagnostics for board 50:
2025-04-24 15:29:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:28 ago, cause: software
2025-04-24 15:29:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:23 [debug] Moves scheduled 40696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 564696882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:23 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17991, writes 0 timeouts 0
2025-04-24 15:29:23 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35995/37104
2025-04-24 15:29:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:23 [info] currentZPosition:0.0973
2025-04-24 15:29:24 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:24 [debug] Diagnostics for board 50:
2025-04-24 15:29:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:29 ago, cause: software
2025-04-24 15:29:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:24 [debug] Moves scheduled 40700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 563671207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:29:24 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17182, writes 0 timeouts 0
2025-04-24 15:29:24 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36295/37141
2025-04-24 15:29:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:24 [info] currentZPosition:0.0973
2025-04-24 15:29:26 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:26 [debug] Diagnostics for board 50:
2025-04-24 15:29:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:31 ago, cause: software
2025-04-24 15:29:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:26 [debug] Moves scheduled 40704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 70, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 562613210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:29:26 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17786, writes 0 timeouts 0
2025-04-24 15:29:26 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36037/37100
2025-04-24 15:29:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4583, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:26 [info] currentZPosition:0.0972
2025-04-24 15:29:27 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:27 [debug] Diagnostics for board 50:
2025-04-24 15:29:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:32 ago, cause: software
2025-04-24 15:29:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:27 [debug] Moves scheduled 40708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 561606111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:29:27 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16877, writes 0 timeouts 0
2025-04-24 15:29:27 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36362/37157
2025-04-24 15:29:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:27 [info] currentZPosition:0.0981
2025-04-24 15:29:28 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:28 [debug] Diagnostics for board 50:
2025-04-24 15:29:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:33 ago, cause: software
2025-04-24 15:29:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:28 [debug] Moves scheduled 40712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967241 ticks, disabled, next step interrupt due in 560541755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:29:28 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17864, writes 0 timeouts 0
2025-04-24 15:29:28 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36042/37156
2025-04-24 15:29:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:29 [info] currentZPosition:0.0979
2025-04-24 15:29:30 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:30 [debug] Diagnostics for board 50:
2025-04-24 15:29:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:35 ago, cause: software
2025-04-24 15:29:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:30 [debug] Moves scheduled 40716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 559522737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:30 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17123, writes 0 timeouts 0
2025-04-24 15:29:30 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36333/37088
2025-04-24 15:29:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:30 [info] currentZPosition:0.0981
2025-04-24 15:29:31 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:31 [debug] Diagnostics for board 50:
2025-04-24 15:29:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:36 ago, cause: software
2025-04-24 15:29:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:31 [debug] Moves scheduled 40720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 558448972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:31 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18002, writes 0 timeouts 0
2025-04-24 15:29:31 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36050/37129
2025-04-24 15:29:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:31 [info] currentZPosition:0.0975
2025-04-24 15:29:33 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:33 [debug] Diagnostics for board 50:
2025-04-24 15:29:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:31:38 ago, cause: software
2025-04-24 15:29:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:33 [debug] Moves scheduled 40724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 83, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 557439472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:29:33 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16951, writes 0 timeouts 0
2025-04-24 15:29:33 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36304/37083
2025-04-24 15:29:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:33 [info] currentZPosition:0.0984
2025-04-24 15:29:34 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:34 [debug] Diagnostics for board 50:
2025-04-24 15:29:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:39 ago, cause: software
2025-04-24 15:29:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:34 [debug] Moves scheduled 40728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 556362159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:29:34 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18090, writes 0 timeouts 0
2025-04-24 15:29:34 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36022/37097
2025-04-24 15:29:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:34 [info] currentZPosition:0.0972
2025-04-24 15:29:35 [debug] Stopped at height 0.099 mm
2025-04-24 15:29:35 [debug] Diagnostics for board 50:
2025-04-24 15:29:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:40 ago, cause: software
2025-04-24 15:29:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:35 [debug] Moves scheduled 40732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 555361464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:29:35 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16768, writes 0 timeouts 0
2025-04-24 15:29:35 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36315/37123
2025-04-24 15:29:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:35 [info] currentZPosition:0.0985
2025-04-24 15:29:36 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:37 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:37 [debug] Diagnostics for board 50:
2025-04-24 15:29:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:42 ago, cause: software
2025-04-24 15:29:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:37 [debug] Moves scheduled 40738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 554059128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:37 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21864, writes 0 timeouts 0
2025-04-24 15:29:37 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36055/37124
2025-04-24 15:29:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:37 [info] currentZPosition:0.0978
2025-04-24 15:29:38 [debug] Stopped at height 0.099 mm
2025-04-24 15:29:38 [debug] Diagnostics for board 50:
2025-04-24 15:29:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:43 ago, cause: software
2025-04-24 15:29:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:38 [debug] Moves scheduled 40742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 553051981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:38 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16930, writes 0 timeouts 0
2025-04-24 15:29:38 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36338/37123
2025-04-24 15:29:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:39 [info] currentZPosition:0.0988
2025-04-24 15:29:40 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:40 [debug] Diagnostics for board 50:
2025-04-24 15:29:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:45 ago, cause: software
2025-04-24 15:29:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:40 [debug] Moves scheduled 40746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 551978080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:40 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17980, writes 0 timeouts 0
2025-04-24 15:29:40 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36012/37116
2025-04-24 15:29:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:40 [info] currentZPosition:0.0981
2025-04-24 15:29:41 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:41 [debug] Diagnostics for board 50:
2025-04-24 15:29:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:46 ago, cause: software
2025-04-24 15:29:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:41 [debug] Moves scheduled 40750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 550943282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:29:41 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17372, writes 0 timeouts 0
2025-04-24 15:29:41 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36314/37167
2025-04-24 15:29:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:41 [info] currentZPosition:0.0975
2025-04-24 15:29:43 [debug] Stopped at height 0.099 mm
2025-04-24 15:29:43 [debug] Diagnostics for board 50:
2025-04-24 15:29:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:31:48 ago, cause: software
2025-04-24 15:29:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:43 [debug] Moves scheduled 40754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 549917532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:43 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17206, writes 0 timeouts 0
2025-04-24 15:29:43 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36055/37153
2025-04-24 15:29:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9077, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:43 [info] currentZPosition:0.0991
2025-04-24 15:29:43 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:44 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:44 [debug] Diagnostics for board 50:
2025-04-24 15:29:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:31:49 ago, cause: software
2025-04-24 15:29:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:44 [debug] Moves scheduled 40760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 548639147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:29:44 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21452, writes 0 timeouts 0
2025-04-24 15:29:44 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36304/37172
2025-04-24 15:29:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:44 [info] currentZPosition:0.0978
2025-04-24 15:29:46 [debug] Stopped at height 0.096 mm
2025-04-24 15:29:46 [debug] Diagnostics for board 50:
2025-04-24 15:29:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:31:51 ago, cause: software
2025-04-24 15:29:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:46 [debug] Moves scheduled 40764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 547557082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:29:46 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18156, writes 0 timeouts 0
2025-04-24 15:29:46 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36039/37123
2025-04-24 15:29:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9248, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:46 [info] currentZPosition:0.0963
2025-04-24 15:29:46 [debug] Stopped at height 0.095 mm
2025-04-24 15:29:47 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:47 [debug] Diagnostics for board 50:
2025-04-24 15:29:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:52 ago, cause: software
2025-04-24 15:29:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:47 [debug] Moves scheduled 40770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 105, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 546323594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:29:47 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20726, writes 0 timeouts 0
2025-04-24 15:29:47 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36330/37132
2025-04-24 15:29:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:48 [info] currentZPosition:0.0981
2025-04-24 15:29:48 [debug] Stopped at height 0.095 mm
2025-04-24 15:29:49 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:49 [debug] Diagnostics for board 50:
2025-04-24 15:29:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:54 ago, cause: software
2025-04-24 15:29:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:49 [debug] Moves scheduled 40776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 545038117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:29:49 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21538, writes 0 timeouts 0
2025-04-24 15:29:49 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36046/37124
2025-04-24 15:29:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:49 [info] currentZPosition:0.0983
2025-04-24 15:29:50 [debug] Stopped at height 0.095 mm
2025-04-24 15:29:51 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:51 [debug] Diagnostics for board 50:
2025-04-24 15:29:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:56 ago, cause: software
2025-04-24 15:29:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:51 [debug] Moves scheduled 40782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 90, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 543780111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:51 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21104, writes 0 timeouts 0
2025-04-24 15:29:51 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36289/37098
2025-04-24 15:29:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9084, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:51 [info] currentZPosition:0.0984
2025-04-24 15:29:51 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:53 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:53 [debug] Diagnostics for board 50:
2025-04-24 15:29:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:31:57 ago, cause: software
2025-04-24 15:29:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:53 [debug] Moves scheduled 40788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 542465389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:29:53 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22062, writes 0 timeouts 0
2025-04-24 15:29:53 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36067/37121
2025-04-24 15:29:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:53 [info] currentZPosition:0.0974
2025-04-24 15:29:54 [debug] Stopped at height 0.097 mm
2025-04-24 15:29:54 [debug] Diagnostics for board 50:
2025-04-24 15:29:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:31:59 ago, cause: software
2025-04-24 15:29:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:54 [debug] Moves scheduled 40792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 541436258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:29:54 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17262, writes 0 timeouts 0
2025-04-24 15:29:54 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36374/37172
2025-04-24 15:29:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:54 [info] currentZPosition:0.0971
2025-04-24 15:29:55 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:55 [debug] Diagnostics for board 50:
2025-04-24 15:29:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:00 ago, cause: software
2025-04-24 15:29:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:55 [debug] Moves scheduled 40796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 540395338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:55 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17474, writes 0 timeouts 0
2025-04-24 15:29:55 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36054/37171
2025-04-24 15:29:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:55 [info] currentZPosition:0.0980
2025-04-24 15:29:57 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:57 [debug] Diagnostics for board 50:
2025-04-24 15:29:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:02 ago, cause: software
2025-04-24 15:29:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:57 [debug] Moves scheduled 40800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 539370577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:57 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17198, writes 0 timeouts 0
2025-04-24 15:29:57 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36301/37124
2025-04-24 15:29:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:57 [info] currentZPosition:0.0981
2025-04-24 15:29:58 [debug] Stopped at height 0.099 mm
2025-04-24 15:29:58 [debug] Diagnostics for board 50:
2025-04-24 15:29:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:03 ago, cause: software
2025-04-24 15:29:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:58 [debug] Moves scheduled 40804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 538320729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:29:58 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17628, writes 0 timeouts 0
2025-04-24 15:29:58 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36084/37101
2025-04-24 15:29:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:29:58 [info] currentZPosition:0.0985
2025-04-24 15:29:59 [debug] Stopped at height 0.098 mm
2025-04-24 15:29:59 [debug] Diagnostics for board 50:
2025-04-24 15:29:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:29:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:32:04 ago, cause: software
2025-04-24 15:29:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:29:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:29:59 [debug] Moves scheduled 40808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 537285611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:29:59 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17381, writes 0 timeouts 0
2025-04-24 15:29:59 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36310/37093
2025-04-24 15:29:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:00 [info] currentZPosition:0.0979
2025-04-24 15:30:01 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:01 [debug] Diagnostics for board 50:
2025-04-24 15:30:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:32:06 ago, cause: software
2025-04-24 15:30:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:01 [debug] Moves scheduled 40812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 536232958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:30:01 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17670, writes 0 timeouts 0
2025-04-24 15:30:01 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35994/37145
2025-04-24 15:30:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:01 [info] currentZPosition:0.0983
2025-04-24 15:30:02 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:02 [debug] Diagnostics for board 50:
2025-04-24 15:30:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:32:07 ago, cause: software
2025-04-24 15:30:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:02 [debug] Moves scheduled 40816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 535204512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:30:02 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17246, writes 0 timeouts 0
2025-04-24 15:30:02 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36190/37151
2025-04-24 15:30:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:02 [info] currentZPosition:0.0981
2025-04-24 15:30:04 [debug] Stopped at height 0.097 mm
2025-04-24 15:30:04 [debug] Diagnostics for board 50:
2025-04-24 15:30:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:09 ago, cause: software
2025-04-24 15:30:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:04 [debug] Moves scheduled 40820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 534129130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:30:04 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18040, writes 0 timeouts 0
2025-04-24 15:30:04 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 338, adv 36065/37133
2025-04-24 15:30:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9209, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:04 [info] currentZPosition:0.0972
2025-04-24 15:30:05 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:05 [debug] Diagnostics for board 50:
2025-04-24 15:30:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:10 ago, cause: software
2025-04-24 15:30:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:05 [debug] Moves scheduled 40824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 533112295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:30:05 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17059, writes 0 timeouts 0
2025-04-24 15:30:05 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36111/37099
2025-04-24 15:30:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:05 [info] currentZPosition:0.0975
2025-04-24 15:30:06 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:06 [debug] Diagnostics for board 50:
2025-04-24 15:30:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:11 ago, cause: software
2025-04-24 15:30:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:06 [debug] Moves scheduled 40828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 532064755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:30:06 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17588, writes 0 timeouts 0
2025-04-24 15:30:06 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36005/37132
2025-04-24 15:30:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:07 [info] currentZPosition:0.0981
2025-04-24 15:30:08 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:08 [debug] Diagnostics for board 50:
2025-04-24 15:30:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:13 ago, cause: software
2025-04-24 15:30:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:08 [debug] Moves scheduled 40832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter 1/4, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 531054619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:30:08 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16945, writes 0 timeouts 0
2025-04-24 15:30:08 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36122/37107
2025-04-24 15:30:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:08 [info] currentZPosition:0.0988
2025-04-24 15:30:09 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:09 [debug] Diagnostics for board 50:
2025-04-24 15:30:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:14 ago, cause: software
2025-04-24 15:30:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:09 [debug] Moves scheduled 40836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 243, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 529980969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:30:09 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18025, writes 0 timeouts 0
2025-04-24 15:30:09 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36020/37137
2025-04-24 15:30:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:09 [info] currentZPosition:0.0979
2025-04-24 15:30:11 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:11 [debug] Diagnostics for board 50:
2025-04-24 15:30:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:15 ago, cause: software
2025-04-24 15:30:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:11 [debug] Moves scheduled 40840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 528962116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:30:11 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17099, writes 0 timeouts 0
2025-04-24 15:30:11 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36080/37155
2025-04-24 15:30:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:11 [info] currentZPosition:0.0980
2025-04-24 15:30:12 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:12 [debug] Diagnostics for board 50:
2025-04-24 15:30:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:32:17 ago, cause: software
2025-04-24 15:30:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:12 [debug] Moves scheduled 40844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 527910745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:30:12 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17653, writes 0 timeouts 0
2025-04-24 15:30:12 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36054/37107
2025-04-24 15:30:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:12 [info] currentZPosition:0.0984
2025-04-24 15:30:13 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:13 [debug] Diagnostics for board 50:
2025-04-24 15:30:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:32:18 ago, cause: software
2025-04-24 15:30:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:13 [debug] Moves scheduled 40848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 526901058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:30:13 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16933, writes 0 timeouts 0
2025-04-24 15:30:13 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36002/37163
2025-04-24 15:30:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:13 [info] currentZPosition:0.0992
2025-04-24 15:30:15 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:15 [debug] Diagnostics for board 50:
2025-04-24 15:30:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:20 ago, cause: software
2025-04-24 15:30:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:15 [debug] Moves scheduled 40852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 525843649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:30:15 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17735, writes 0 timeouts 0
2025-04-24 15:30:15 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 421, adv 35971/37107
2025-04-24 15:30:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:15 [info] currentZPosition:0.0991
2025-04-24 15:30:16 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:16 [debug] Diagnostics for board 50:
2025-04-24 15:30:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:21 ago, cause: software
2025-04-24 15:30:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:16 [debug] Moves scheduled 40856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 524810123 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:30:16 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17340, writes 0 timeouts 0
2025-04-24 15:30:16 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36155/37103
2025-04-24 15:30:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:16 [info] currentZPosition:0.0985
2025-04-24 15:30:18 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:18 [debug] Diagnostics for board 50:
2025-04-24 15:30:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:22 ago, cause: software
2025-04-24 15:30:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:18 [debug] Moves scheduled 40860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 523742760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:30:18 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17915, writes 0 timeouts 0
2025-04-24 15:30:18 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36032/37121
2025-04-24 15:30:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:18 [info] currentZPosition:0.0982
2025-04-24 15:30:19 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:19 [debug] Diagnostics for board 50:
2025-04-24 15:30:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:24 ago, cause: software
2025-04-24 15:30:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:19 [debug] Moves scheduled 40864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 522716824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:30:19 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17207, writes 0 timeouts 0
2025-04-24 15:30:19 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36068/37143
2025-04-24 15:30:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:19 [info] currentZPosition:0.0979
2025-04-24 15:30:20 [debug] Stopped at height 0.097 mm
2025-04-24 15:30:20 [debug] Diagnostics for board 50:
2025-04-24 15:30:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:25 ago, cause: software
2025-04-24 15:30:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:20 [debug] Moves scheduled 40868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 69, peak jitter -2/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 521637867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:30:20 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18102, writes 0 timeouts 0
2025-04-24 15:30:20 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36038/37149
2025-04-24 15:30:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9231, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:20 [info] currentZPosition:0.0967
2025-04-24 15:30:22 [debug] Stopped at height 0.100 mm
2025-04-24 15:30:22 [debug] Diagnostics for board 50:
2025-04-24 15:30:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:27 ago, cause: software
2025-04-24 15:30:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:22 [debug] Moves scheduled 40872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 59, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 520675781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:30:22 [debug] Driver 0: pos -3508, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16154, writes 0 timeouts 0
2025-04-24 15:30:22 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36165/37100
2025-04-24 15:30:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:22 [info] currentZPosition:0.0998
2025-04-24 15:30:22 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:23 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:23 [debug] Diagnostics for board 50:
2025-04-24 15:30:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:28 ago, cause: software
2025-04-24 15:30:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:23 [debug] Moves scheduled 40878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 519352330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:30:23 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22228, writes 0 timeouts 0
2025-04-24 15:30:23 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35998/37129
2025-04-24 15:30:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:23 [info] currentZPosition:0.0986
2025-04-24 15:30:25 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:25 [debug] Diagnostics for board 50:
2025-04-24 15:30:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:30 ago, cause: software
2025-04-24 15:30:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:25 [debug] Moves scheduled 40882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 518316514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:30:25 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17364, writes 0 timeouts 0
2025-04-24 15:30:25 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36052/37093
2025-04-24 15:30:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:25 [info] currentZPosition:0.0980
2025-04-24 15:30:26 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:26 [debug] Diagnostics for board 50:
2025-04-24 15:30:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:31 ago, cause: software
2025-04-24 15:30:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:26 [debug] Moves scheduled 40886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 517270128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:30:26 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17558, writes 0 timeouts 0
2025-04-24 15:30:26 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36004/37120
2025-04-24 15:30:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:26 [info] currentZPosition:0.0987
2025-04-24 15:30:28 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:28 [debug] Diagnostics for board 50:
2025-04-24 15:30:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:32 ago, cause: software
2025-04-24 15:30:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:28 [debug] Moves scheduled 40890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 516245055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:30:28 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17232, writes 0 timeouts 0
2025-04-24 15:30:28 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36133/37088
2025-04-24 15:30:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:28 [info] currentZPosition:0.0988
2025-04-24 15:30:29 [debug] Stopped at height 0.097 mm
2025-04-24 15:30:29 [debug] Diagnostics for board 50:
2025-04-24 15:30:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:32:34 ago, cause: software
2025-04-24 15:30:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:29 [debug] Moves scheduled 40894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 515141693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:30:29 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18484, writes 0 timeouts 0
2025-04-24 15:30:29 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36035/37110
2025-04-24 15:30:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:29 [info] currentZPosition:0.0966
2025-04-24 15:30:29 [debug] Stopped at height 0.096 mm
2025-04-24 15:30:31 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:31 [debug] Diagnostics for board 50:
2025-04-24 15:30:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:36 ago, cause: software
2025-04-24 15:30:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:31 [debug] Moves scheduled 40900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 513908077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:30:31 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20709, writes 0 timeouts 0
2025-04-24 15:30:31 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36065/37116
2025-04-24 15:30:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:31 [info] currentZPosition:0.0981
2025-04-24 15:30:31 [debug] Stopped at height 0.096 mm
2025-04-24 15:30:32 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:32 [debug] Diagnostics for board 50:
2025-04-24 15:30:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:37 ago, cause: software
2025-04-24 15:30:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:32 [debug] Moves scheduled 40906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 512627132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:30:32 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21511, writes 0 timeouts 0
2025-04-24 15:30:32 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36086/37139
2025-04-24 15:30:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:32 [info] currentZPosition:0.0987
2025-04-24 15:30:33 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:34 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:34 [debug] Diagnostics for board 50:
2025-04-24 15:30:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:39 ago, cause: software
2025-04-24 15:30:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:34 [debug] Moves scheduled 40912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 511362164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:30:34 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21214, writes 0 timeouts 0
2025-04-24 15:30:34 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36061/37167
2025-04-24 15:30:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:34 [info] currentZPosition:0.0986
2025-04-24 15:30:35 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:35 [debug] Diagnostics for board 50:
2025-04-24 15:30:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:32:40 ago, cause: software
2025-04-24 15:30:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:35 [debug] Moves scheduled 40916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 510317467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:30:35 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17517, writes 0 timeouts 0
2025-04-24 15:30:35 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36055/37144
2025-04-24 15:30:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:36 [info] currentZPosition:0.0993
2025-04-24 15:30:37 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:37 [debug] Diagnostics for board 50:
2025-04-24 15:30:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:42 ago, cause: software
2025-04-24 15:30:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:37 [debug] Moves scheduled 40920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 509265351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:30:37 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17724, writes 0 timeouts 0
2025-04-24 15:30:37 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36113/37175
2025-04-24 15:30:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9198, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:37 [info] currentZPosition:0.0975
2025-04-24 15:30:37 [debug] Stopped at height 0.096 mm
2025-04-24 15:30:39 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:39 [debug] Diagnostics for board 50:
2025-04-24 15:30:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:43 ago, cause: software
2025-04-24 15:30:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:39 [debug] Moves scheduled 40926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 507965578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:30:39 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21734, writes 0 timeouts 0
2025-04-24 15:30:39 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36009/37126
2025-04-24 15:30:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:39 [info] currentZPosition:0.0979
2025-04-24 15:30:40 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:40 [debug] Diagnostics for board 50:
2025-04-24 15:30:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:45 ago, cause: software
2025-04-24 15:30:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:40 [debug] Moves scheduled 40930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 506944170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:30:40 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17145, writes 0 timeouts 0
2025-04-24 15:30:40 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36108/37106
2025-04-24 15:30:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:40 [info] currentZPosition:0.0980
2025-04-24 15:30:41 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:41 [debug] Diagnostics for board 50:
2025-04-24 15:30:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:46 ago, cause: software
2025-04-24 15:30:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:41 [debug] Moves scheduled 40934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 505902277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:30:41 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17525, writes 0 timeouts 0
2025-04-24 15:30:41 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36040/37114
2025-04-24 15:30:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:41 [info] currentZPosition:0.0986
2025-04-24 15:30:43 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:43 [debug] Diagnostics for board 50:
2025-04-24 15:30:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:48 ago, cause: software
2025-04-24 15:30:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:43 [debug] Moves scheduled 40938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 1/4, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 504862015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:30:43 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17428, writes 0 timeouts 0
2025-04-24 15:30:43 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36084/37133
2025-04-24 15:30:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9225, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:43 [info] currentZPosition:0.0976
2025-04-24 15:30:44 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:44 [debug] Diagnostics for board 50:
2025-04-24 15:30:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:49 ago, cause: software
2025-04-24 15:30:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:44 [debug] Moves scheduled 40942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 503815085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:30:44 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17562, writes 0 timeouts 0
2025-04-24 15:30:44 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36046/37121
2025-04-24 15:30:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:44 [info] currentZPosition:0.0981
2025-04-24 15:30:45 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:45 [debug] Diagnostics for board 50:
2025-04-24 15:30:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:50 ago, cause: software
2025-04-24 15:30:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:45 [debug] Moves scheduled 40946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 105, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 502789702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:30:45 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17235, writes 0 timeouts 0
2025-04-24 15:30:45 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36050/37110
2025-04-24 15:30:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9223, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:46 [info] currentZPosition:0.0978
2025-04-24 15:30:47 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:47 [debug] Diagnostics for board 50:
2025-04-24 15:30:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:52 ago, cause: software
2025-04-24 15:30:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:47 [debug] Moves scheduled 40950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 501761125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:30:47 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17246, writes 0 timeouts 0
2025-04-24 15:30:47 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36062/37141
2025-04-24 15:30:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:47 [info] currentZPosition:0.0993
2025-04-24 15:30:47 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:49 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:49 [debug] Diagnostics for board 50:
2025-04-24 15:30:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:53 ago, cause: software
2025-04-24 15:30:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:49 [debug] Moves scheduled 40956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 500498742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:30:49 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21178, writes 0 timeouts 0
2025-04-24 15:30:49 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36076/37171
2025-04-24 15:30:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:49 [info] currentZPosition:0.0990
2025-04-24 15:30:50 [debug] Stopped at height 0.098 mm
2025-04-24 15:30:50 [debug] Diagnostics for board 50:
2025-04-24 15:30:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:55 ago, cause: software
2025-04-24 15:30:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:50 [debug] Moves scheduled 40960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 499425349 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:30:50 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18023, writes 0 timeouts 0
2025-04-24 15:30:50 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36002/37119
2025-04-24 15:30:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:50 [info] currentZPosition:0.0981
2025-04-24 15:30:51 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:51 [debug] Diagnostics for board 50:
2025-04-24 15:30:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:32:56 ago, cause: software
2025-04-24 15:30:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:51 [debug] Moves scheduled 40964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 498421689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:30:51 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16850, writes 0 timeouts 0
2025-04-24 15:30:51 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36115/37134
2025-04-24 15:30:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:51 [info] currentZPosition:0.0990
2025-04-24 15:30:53 [debug] Stopped at height 0.100 mm
2025-04-24 15:30:53 [debug] Diagnostics for board 50:
2025-04-24 15:30:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:58 ago, cause: software
2025-04-24 15:30:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:53 [debug] Moves scheduled 40968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 497379528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:30:53 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17490, writes 0 timeouts 0
2025-04-24 15:30:53 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36062/37107
2025-04-24 15:30:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:53 [info] currentZPosition:0.0998
2025-04-24 15:30:54 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:54 [debug] Diagnostics for board 50:
2025-04-24 15:30:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:32:59 ago, cause: software
2025-04-24 15:30:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:54 [debug] Moves scheduled 40972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 496339376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:30:54 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17443, writes 0 timeouts 0
2025-04-24 15:30:54 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36057/37124
2025-04-24 15:30:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:54 [info] currentZPosition:0.0991
2025-04-24 15:30:55 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:55 [debug] Diagnostics for board 50:
2025-04-24 15:30:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:33:00 ago, cause: software
2025-04-24 15:30:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:55 [debug] Moves scheduled 40976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 59, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 495285318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:30:55 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17696, writes 0 timeouts 0
2025-04-24 15:30:55 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36034/37159
2025-04-24 15:30:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:56 [info] currentZPosition:0.0993
2025-04-24 15:30:57 [debug] Stopped at height 0.099 mm
2025-04-24 15:30:57 [debug] Diagnostics for board 50:
2025-04-24 15:30:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:33:02 ago, cause: software
2025-04-24 15:30:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:57 [debug] Moves scheduled 40980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/4, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 494250719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:30:57 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17355, writes 0 timeouts 0
2025-04-24 15:30:57 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36212/37091
2025-04-24 15:30:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:57 [info] currentZPosition:0.0989
2025-04-24 15:30:58 [debug] Stopped at height 0.101 mm
2025-04-24 15:30:58 [debug] Diagnostics for board 50:
2025-04-24 15:30:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:30:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:33:03 ago, cause: software
2025-04-24 15:30:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:30:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:30:58 [debug] Moves scheduled 40984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 493218977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:30:58 [debug] Driver 0: pos -3510, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17324, writes 0 timeouts 0
2025-04-24 15:30:58 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36060/37156
2025-04-24 15:30:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9087, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:30:58 [info] currentZPosition:0.101
2025-04-24 15:30:59 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:00 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:00 [debug] Diagnostics for board 50:
2025-04-24 15:31:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:33:05 ago, cause: software
2025-04-24 15:31:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:00 [debug] Moves scheduled 40990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 491951196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:31:00 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21266, writes 0 timeouts 0
2025-04-24 15:31:00 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36326/37165
2025-04-24 15:31:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:00 [info] currentZPosition:0.1000
2025-04-24 15:31:00 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:02 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:02 [debug] Diagnostics for board 50:
2025-04-24 15:31:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:07 ago, cause: software
2025-04-24 15:31:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:02 [debug] Moves scheduled 40996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 490652149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:31:02 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21826, writes 0 timeouts 0
2025-04-24 15:31:02 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35992/37154
2025-04-24 15:31:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:02 [info] currentZPosition:0.0996
2025-04-24 15:31:03 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:03 [debug] Diagnostics for board 50:
2025-04-24 15:31:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:08 ago, cause: software
2025-04-24 15:31:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:03 [debug] Moves scheduled 41000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 108, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 489642138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:31:03 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16925, writes 0 timeouts 0
2025-04-24 15:31:03 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36306/37106
2025-04-24 15:31:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9079, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:03 [info] currentZPosition:0.100
2025-04-24 15:31:04 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:04 [debug] Diagnostics for board 50:
2025-04-24 15:31:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:09 ago, cause: software
2025-04-24 15:31:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:04 [debug] Moves scheduled 41004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 488579998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:31:04 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17822, writes 0 timeouts 0
2025-04-24 15:31:04 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36033/37150
2025-04-24 15:31:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:05 [info] currentZPosition:0.1000
2025-04-24 15:31:06 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:06 [debug] Diagnostics for board 50:
2025-04-24 15:31:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:11 ago, cause: software
2025-04-24 15:31:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:06 [debug] Moves scheduled 41008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 102, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 487509892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:31:06 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17944, writes 0 timeouts 0
2025-04-24 15:31:06 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36381/37151
2025-04-24 15:31:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9243, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:06 [info] currentZPosition:0.0976
2025-04-24 15:31:06 [debug] Stopped at height 0.097 mm
2025-04-24 15:31:08 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:08 [debug] Diagnostics for board 50:
2025-04-24 15:31:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:33:12 ago, cause: software
2025-04-24 15:31:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:08 [debug] Moves scheduled 41014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 486257463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:31:08 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21012, writes 0 timeouts 0
2025-04-24 15:31:08 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36044/37113
2025-04-24 15:31:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:08 [info] currentZPosition:0.100
2025-04-24 15:31:08 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:09 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:09 [debug] Diagnostics for board 50:
2025-04-24 15:31:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:14 ago, cause: software
2025-04-24 15:31:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:09 [debug] Moves scheduled 41020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 484966100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:31:09 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21682, writes 0 timeouts 0
2025-04-24 15:31:09 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36345/37104
2025-04-24 15:31:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9169, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:09 [info] currentZPosition:0.0987
2025-04-24 15:31:11 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:11 [debug] Diagnostics for board 50:
2025-04-24 15:31:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:16 ago, cause: software
2025-04-24 15:31:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:11 [debug] Moves scheduled 41024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 68, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 483910910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:31:11 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17710, writes 0 timeouts 0
2025-04-24 15:31:11 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36024/37095
2025-04-24 15:31:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:11 [info] currentZPosition:0.0988
2025-04-24 15:31:12 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:12 [debug] Diagnostics for board 50:
2025-04-24 15:31:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:33:17 ago, cause: software
2025-04-24 15:31:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:12 [debug] Moves scheduled 41028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 482907205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:31:12 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16846, writes 0 timeouts 0
2025-04-24 15:31:12 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 407, adv 36279/37083
2025-04-24 15:31:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:12 [info] currentZPosition:0.0999
2025-04-24 15:31:13 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:13 [debug] Diagnostics for board 50:
2025-04-24 15:31:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:33:18 ago, cause: software
2025-04-24 15:31:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:13 [debug] Moves scheduled 41032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 481832104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:31:13 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18029, writes 0 timeouts 0
2025-04-24 15:31:13 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36035/37121
2025-04-24 15:31:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:14 [info] currentZPosition:0.0990
2025-04-24 15:31:15 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:15 [debug] Diagnostics for board 50:
2025-04-24 15:31:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:20 ago, cause: software
2025-04-24 15:31:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:15 [debug] Moves scheduled 41036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 480821015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:31:15 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16976, writes 0 timeouts 0
2025-04-24 15:31:15 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36309/37101
2025-04-24 15:31:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:15 [info] currentZPosition:0.0996
2025-04-24 15:31:16 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:16 [debug] Diagnostics for board 50:
2025-04-24 15:31:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:21 ago, cause: software
2025-04-24 15:31:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:16 [debug] Moves scheduled 41040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 479756708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:31:16 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17867, writes 0 timeouts 0
2025-04-24 15:31:16 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36041/37104
2025-04-24 15:31:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:16 [info] currentZPosition:0.0992
2025-04-24 15:31:18 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:18 [debug] Diagnostics for board 50:
2025-04-24 15:31:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:22 ago, cause: software
2025-04-24 15:31:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:18 [debug] Moves scheduled 41044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 478744092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:31:18 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17000, writes 0 timeouts 0
2025-04-24 15:31:18 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36304/37119
2025-04-24 15:31:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:18 [info] currentZPosition:0.0997
2025-04-24 15:31:19 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:19 [debug] Diagnostics for board 50:
2025-04-24 15:31:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:33:24 ago, cause: software
2025-04-24 15:31:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:19 [debug] Moves scheduled 41048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 477673698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:31:19 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17970, writes 0 timeouts 0
2025-04-24 15:31:19 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36037/37112
2025-04-24 15:31:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:19 [info] currentZPosition:0.0992
2025-04-24 15:31:20 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:20 [debug] Diagnostics for board 50:
2025-04-24 15:31:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:25 ago, cause: software
2025-04-24 15:31:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:20 [debug] Moves scheduled 41052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 476638003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:31:20 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17363, writes 0 timeouts 0
2025-04-24 15:31:20 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36338/37109
2025-04-24 15:31:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:20 [info] currentZPosition:0.0985
2025-04-24 15:31:22 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:22 [debug] Diagnostics for board 50:
2025-04-24 15:31:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:27 ago, cause: software
2025-04-24 15:31:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:22 [debug] Moves scheduled 41056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 105, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 475597190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:31:22 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17475, writes 0 timeouts 0
2025-04-24 15:31:22 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36078/37084
2025-04-24 15:31:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:22 [info] currentZPosition:0.0993
2025-04-24 15:31:23 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:23 [debug] Diagnostics for board 50:
2025-04-24 15:31:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:28 ago, cause: software
2025-04-24 15:31:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:23 [debug] Moves scheduled 41060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 474546941 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:31:23 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17615, writes 0 timeouts 0
2025-04-24 15:31:23 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36289/37105
2025-04-24 15:31:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9226, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:23 [info] currentZPosition:0.0979
2025-04-24 15:31:24 [debug] Stopped at height 0.097 mm
2025-04-24 15:31:25 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:25 [debug] Diagnostics for board 50:
2025-04-24 15:31:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:30 ago, cause: software
2025-04-24 15:31:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:25 [debug] Moves scheduled 41066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8720, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 473297567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:31:25 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20967, writes 0 timeouts 0
2025-04-24 15:31:25 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36029/37121
2025-04-24 15:31:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:25 [info] currentZPosition:0.100
2025-04-24 15:31:25 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:27 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:27 [debug] Diagnostics for board 50:
2025-04-24 15:31:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:31 ago, cause: software
2025-04-24 15:31:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:27 [debug] Moves scheduled 41072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 471993309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:31:27 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21929, writes 0 timeouts 0
2025-04-24 15:31:27 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36352/37131
2025-04-24 15:31:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:27 [info] currentZPosition:0.0979
2025-04-24 15:31:28 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:28 [debug] Diagnostics for board 50:
2025-04-24 15:31:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:33 ago, cause: software
2025-04-24 15:31:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:28 [debug] Moves scheduled 41076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 470958603 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:31:28 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17315, writes 0 timeouts 0
2025-04-24 15:31:28 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36042/37109
2025-04-24 15:31:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:28 [info] currentZPosition:0.0992
2025-04-24 15:31:28 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:30 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:30 [debug] Diagnostics for board 50:
2025-04-24 15:31:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:33:34 ago, cause: software
2025-04-24 15:31:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:30 [debug] Moves scheduled 41082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 469702943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:31:30 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21048, writes 0 timeouts 0
2025-04-24 15:31:30 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36374/37152
2025-04-24 15:31:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9194, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:30 [info] currentZPosition:0.0992
2025-04-24 15:31:30 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:31 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:31 [debug] Diagnostics for board 50:
2025-04-24 15:31:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:36 ago, cause: software
2025-04-24 15:31:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:31 [debug] Moves scheduled 41088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 468429392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:31:31 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21405, writes 0 timeouts 0
2025-04-24 15:31:31 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35992/37133
2025-04-24 15:31:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:31 [info] currentZPosition:0.100
2025-04-24 15:31:32 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:33 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:33 [debug] Diagnostics for board 50:
2025-04-24 15:31:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:33:38 ago, cause: software
2025-04-24 15:31:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:33 [debug] Moves scheduled 41094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 467140187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:31:33 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21606, writes 0 timeouts 0
2025-04-24 15:31:33 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36293/37146
2025-04-24 15:31:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:33 [info] currentZPosition:0.0982
2025-04-24 15:31:34 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:34 [debug] Diagnostics for board 50:
2025-04-24 15:31:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:33:39 ago, cause: software
2025-04-24 15:31:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:34 [debug] Moves scheduled 41098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 466121416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:31:34 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17095, writes 0 timeouts 0
2025-04-24 15:31:34 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 36045/37142
2025-04-24 15:31:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:34 [info] currentZPosition:0.100
2025-04-24 15:31:35 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:36 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:36 [debug] Diagnostics for board 50:
2025-04-24 15:31:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:41 ago, cause: software
2025-04-24 15:31:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:36 [debug] Moves scheduled 41104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 464842370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:31:36 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21488, writes 0 timeouts 0
2025-04-24 15:31:36 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36308/37150
2025-04-24 15:31:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:36 [info] currentZPosition:0.0995
2025-04-24 15:31:37 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:37 [debug] Diagnostics for board 50:
2025-04-24 15:31:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:42 ago, cause: software
2025-04-24 15:31:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:37 [debug] Moves scheduled 41108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 463787664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:31:37 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17677, writes 0 timeouts 0
2025-04-24 15:31:37 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36015/37107
2025-04-24 15:31:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:38 [info] currentZPosition:0.0999
2025-04-24 15:31:39 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:39 [debug] Diagnostics for board 50:
2025-04-24 15:31:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:44 ago, cause: software
2025-04-24 15:31:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:39 [debug] Moves scheduled 41112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8620, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 462760732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:31:39 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17242, writes 0 timeouts 0
2025-04-24 15:31:39 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36341/37071
2025-04-24 15:31:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:39 [info] currentZPosition:0.0999
2025-04-24 15:31:40 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:40 [debug] Diagnostics for board 50:
2025-04-24 15:31:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:45 ago, cause: software
2025-04-24 15:31:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:40 [debug] Moves scheduled 41116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 461690380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:31:40 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17977, writes 0 timeouts 0
2025-04-24 15:31:40 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36051/37089
2025-04-24 15:31:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:40 [info] currentZPosition:0.0990
2025-04-24 15:31:42 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:42 [debug] Diagnostics for board 50:
2025-04-24 15:31:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:47 ago, cause: software
2025-04-24 15:31:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:42 [debug] Moves scheduled 41120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 460674125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:31:42 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17037, writes 0 timeouts 0
2025-04-24 15:31:42 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36384/37094
2025-04-24 15:31:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:42 [info] currentZPosition:0.0994
2025-04-24 15:31:43 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:43 [debug] Diagnostics for board 50:
2025-04-24 15:31:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:48 ago, cause: software
2025-04-24 15:31:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:43 [debug] Moves scheduled 41124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 459618759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:31:43 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17713, writes 0 timeouts 0
2025-04-24 15:31:43 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36052/37122
2025-04-24 15:31:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:43 [info] currentZPosition:0.0998
2025-04-24 15:31:44 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:44 [debug] Diagnostics for board 50:
2025-04-24 15:31:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:49 ago, cause: software
2025-04-24 15:31:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:44 [debug] Moves scheduled 41128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8720, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 458589686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:31:44 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17300, writes 0 timeouts 0
2025-04-24 15:31:44 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36336/37120
2025-04-24 15:31:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:45 [info] currentZPosition:0.0995
2025-04-24 15:31:46 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:46 [debug] Diagnostics for board 50:
2025-04-24 15:31:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:51 ago, cause: software
2025-04-24 15:31:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:46 [debug] Moves scheduled 41132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 457547548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:31:46 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17469, writes 0 timeouts 0
2025-04-24 15:31:46 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36002/37154
2025-04-24 15:31:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:46 [info] currentZPosition:0.100
2025-04-24 15:31:47 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:47 [debug] Diagnostics for board 50:
2025-04-24 15:31:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:52 ago, cause: software
2025-04-24 15:31:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:47 [debug] Moves scheduled 41136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 456512499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:31:47 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17372, writes 0 timeouts 0
2025-04-24 15:31:47 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36320/37107
2025-04-24 15:31:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:47 [info] currentZPosition:0.0998
2025-04-24 15:31:49 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:49 [debug] Diagnostics for board 50:
2025-04-24 15:31:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:33:54 ago, cause: software
2025-04-24 15:31:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:49 [debug] Moves scheduled 41140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 455416664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:31:49 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18417, writes 0 timeouts 0
2025-04-24 15:31:49 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36012/37124
2025-04-24 15:31:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:49 [info] currentZPosition:0.0977
2025-04-24 15:31:49 [debug] Stopped at height 0.096 mm
2025-04-24 15:31:49 [debug] Stopped at height 0.095 mm
2025-04-24 15:31:51 [debug] Stopped at height 0.101 mm
2025-04-24 15:31:51 [debug] Diagnostics for board 50:
2025-04-24 15:31:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:55 ago, cause: software
2025-04-24 15:31:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:51 [debug] Moves scheduled 41148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 453963064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:31:51 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24371, writes 0 timeouts 0
2025-04-24 15:31:51 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36305/37119
2025-04-24 15:31:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:51 [info] currentZPosition:0.101
2025-04-24 15:31:51 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:52 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:52 [debug] Diagnostics for board 50:
2025-04-24 15:31:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:33:57 ago, cause: software
2025-04-24 15:31:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:52 [debug] Moves scheduled 41154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 452625712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:31:52 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22425, writes 0 timeouts 0
2025-04-24 15:31:52 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36074/37153
2025-04-24 15:31:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9237, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:52 [info] currentZPosition:0.0987
2025-04-24 15:31:53 [debug] Stopped at height 0.098 mm
2025-04-24 15:31:54 [debug] Stopped at height 0.100 mm
2025-04-24 15:31:54 [debug] Diagnostics for board 50:
2025-04-24 15:31:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:33:59 ago, cause: software
2025-04-24 15:31:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:54 [debug] Moves scheduled 41160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 451394861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:31:54 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20660, writes 0 timeouts 0
2025-04-24 15:31:54 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36185/37105
2025-04-24 15:31:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:54 [info] currentZPosition:0.100
2025-04-24 15:31:54 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:56 [debug] Stopped at height 0.101 mm
2025-04-24 15:31:56 [debug] Diagnostics for board 50:
2025-04-24 15:31:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:01 ago, cause: software
2025-04-24 15:31:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:56 [debug] Moves scheduled 41166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 450114132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:31:56 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21495, writes 0 timeouts 0
2025-04-24 15:31:56 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36023/37098
2025-04-24 15:31:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:56 [info] currentZPosition:0.101
2025-04-24 15:31:56 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:57 [debug] Stopped at height 0.101 mm
2025-04-24 15:31:57 [debug] Diagnostics for board 50:
2025-04-24 15:31:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:02 ago, cause: software
2025-04-24 15:31:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:57 [debug] Moves scheduled 41172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 448861041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:31:57 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21021, writes 0 timeouts 0
2025-04-24 15:31:57 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36142/37100
2025-04-24 15:31:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:57 [info] currentZPosition:0.101
2025-04-24 15:31:58 [debug] Stopped at height 0.099 mm
2025-04-24 15:31:59 [debug] Stopped at height 0.101 mm
2025-04-24 15:31:59 [debug] Diagnostics for board 50:
2025-04-24 15:31:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:31:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:04 ago, cause: software
2025-04-24 15:31:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:31:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:31:59 [debug] Moves scheduled 41178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 447563257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:31:59 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21781, writes 0 timeouts 0
2025-04-24 15:31:59 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36056/37127
2025-04-24 15:31:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:31:59 [info] currentZPosition:0.101
2025-04-24 15:32:00 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:01 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:01 [debug] Diagnostics for board 50:
2025-04-24 15:32:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:06 ago, cause: software
2025-04-24 15:32:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:01 [debug] Moves scheduled 41184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 90, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 446309500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:32:01 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21053, writes 0 timeouts 0
2025-04-24 15:32:01 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36073/37168
2025-04-24 15:32:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:01 [info] currentZPosition:0.101
2025-04-24 15:32:02 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:02 [debug] Diagnostics for board 50:
2025-04-24 15:32:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:07 ago, cause: software
2025-04-24 15:32:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:02 [debug] Moves scheduled 41188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 445252137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:32:02 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17736, writes 0 timeouts 0
2025-04-24 15:32:02 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36012/37136
2025-04-24 15:32:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:02 [info] currentZPosition:0.101
2025-04-24 15:32:04 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:04 [debug] Diagnostics for board 50:
2025-04-24 15:32:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:08 ago, cause: software
2025-04-24 15:32:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:04 [debug] Moves scheduled 41192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 444225912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:32:04 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17222, writes 0 timeouts 0
2025-04-24 15:32:04 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36112/37136
2025-04-24 15:32:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9097, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:04 [info] currentZPosition:0.101
2025-04-24 15:32:05 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:05 [debug] Diagnostics for board 50:
2025-04-24 15:32:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:34:10 ago, cause: software
2025-04-24 15:32:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:05 [debug] Moves scheduled 41196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 443166795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:05 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17772, writes 0 timeouts 0
2025-04-24 15:32:05 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36095/37159
2025-04-24 15:32:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:05 [info] currentZPosition:0.101
2025-04-24 15:32:06 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:06 [debug] Diagnostics for board 50:
2025-04-24 15:32:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:11 ago, cause: software
2025-04-24 15:32:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:06 [debug] Moves scheduled 41200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 442132305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:32:06 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17372, writes 0 timeouts 0
2025-04-24 15:32:06 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36057/37118
2025-04-24 15:32:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:06 [info] currentZPosition:0.100
2025-04-24 15:32:08 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:08 [debug] Diagnostics for board 50:
2025-04-24 15:32:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:13 ago, cause: software
2025-04-24 15:32:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:08 [debug] Moves scheduled 41204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 441067526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:32:08 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17860, writes 0 timeouts 0
2025-04-24 15:32:08 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36064/37069
2025-04-24 15:32:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:08 [info] currentZPosition:0.100
2025-04-24 15:32:09 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:09 [debug] Diagnostics for board 50:
2025-04-24 15:32:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:14 ago, cause: software
2025-04-24 15:32:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:09 [debug] Moves scheduled 41208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 440054242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:32:09 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17004, writes 0 timeouts 0
2025-04-24 15:32:09 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36112/37110
2025-04-24 15:32:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:09 [info] currentZPosition:0.100
2025-04-24 15:32:11 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:11 [debug] Diagnostics for board 50:
2025-04-24 15:32:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:15 ago, cause: software
2025-04-24 15:32:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:11 [debug] Moves scheduled 41212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 100, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 438995046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:11 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17794, writes 0 timeouts 0
2025-04-24 15:32:11 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36030/37145
2025-04-24 15:32:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:11 [info] currentZPosition:0.100
2025-04-24 15:32:12 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:12 [debug] Diagnostics for board 50:
2025-04-24 15:32:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:17 ago, cause: software
2025-04-24 15:32:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:12 [debug] Moves scheduled 41216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 437963467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:32:12 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17295, writes 0 timeouts 0
2025-04-24 15:32:12 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36096/37120
2025-04-24 15:32:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:12 [info] currentZPosition:0.0999
2025-04-24 15:32:13 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:13 [debug] Diagnostics for board 50:
2025-04-24 15:32:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:18 ago, cause: software
2025-04-24 15:32:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:13 [debug] Moves scheduled 41220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 436917484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:32:13 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17575, writes 0 timeouts 0
2025-04-24 15:32:13 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36090/37120
2025-04-24 15:32:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:13 [info] currentZPosition:0.100
2025-04-24 15:32:15 [debug] Stopped at height 0.102 mm
2025-04-24 15:32:15 [debug] Diagnostics for board 50:
2025-04-24 15:32:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:20 ago, cause: software
2025-04-24 15:32:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:15 [debug] Moves scheduled 41224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 435918712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:15 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16758, writes 0 timeouts 0
2025-04-24 15:32:15 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36099/37141
2025-04-24 15:32:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 826
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:15 [info] currentZPosition:0.102
2025-04-24 15:32:15 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:16 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:16 [debug] Diagnostics for board 50:
2025-04-24 15:32:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:21 ago, cause: software
2025-04-24 15:32:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:16 [debug] Moves scheduled 41230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 434587377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:32:16 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22324, writes 0 timeouts 0
2025-04-24 15:32:16 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36041/37116
2025-04-24 15:32:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9215, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:17 [info] currentZPosition:0.0995
2025-04-24 15:32:17 [debug] Stopped at height 0.098 mm
2025-04-24 15:32:17 [debug] Stopped at height 0.097 mm
2025-04-24 15:32:18 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:18 [debug] Diagnostics for board 50:
2025-04-24 15:32:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:23 ago, cause: software
2025-04-24 15:32:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:18 [debug] Moves scheduled 41238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 65, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 433076204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:32:18 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25387, writes 0 timeouts 0
2025-04-24 15:32:18 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36063/37106
2025-04-24 15:32:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:19 [info] currentZPosition:0.1000
2025-04-24 15:32:19 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:20 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:20 [debug] Diagnostics for board 50:
2025-04-24 15:32:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:25 ago, cause: software
2025-04-24 15:32:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:20 [debug] Moves scheduled 41244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 431809473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:20 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21240, writes 0 timeouts 0
2025-04-24 15:32:20 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36034/37103
2025-04-24 15:32:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:20 [info] currentZPosition:0.101
2025-04-24 15:32:21 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:22 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:22 [debug] Diagnostics for board 50:
2025-04-24 15:32:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:27 ago, cause: software
2025-04-24 15:32:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:22 [debug] Moves scheduled 41250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 430551531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:32:22 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21124, writes 0 timeouts 0
2025-04-24 15:32:22 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36074/37113
2025-04-24 15:32:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9119, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:22 [info] currentZPosition:0.101
2025-04-24 15:32:22 [debug] Stopped at height 0.099 mm
2025-04-24 15:32:24 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:24 [debug] Diagnostics for board 50:
2025-04-24 15:32:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:28 ago, cause: software
2025-04-24 15:32:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:24 [debug] Moves scheduled 41256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 429246643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:32:24 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21915, writes 0 timeouts 0
2025-04-24 15:32:24 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36003/37102
2025-04-24 15:32:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:24 [info] currentZPosition:0.100
2025-04-24 15:32:24 [debug] Stopped at height 0.098 mm
2025-04-24 15:32:25 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:25 [debug] Diagnostics for board 50:
2025-04-24 15:32:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:30 ago, cause: software
2025-04-24 15:32:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:25 [debug] Moves scheduled 41262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 427997707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:32:25 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20965, writes 0 timeouts 0
2025-04-24 15:32:25 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36135/37145
2025-04-24 15:32:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:25 [info] currentZPosition:0.101
2025-04-24 15:32:26 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:27 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:27 [debug] Diagnostics for board 50:
2025-04-24 15:32:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:32 ago, cause: software
2025-04-24 15:32:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:27 [debug] Moves scheduled 41268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 426679700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:27 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22080, writes 0 timeouts 0
2025-04-24 15:32:27 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36055/37145
2025-04-24 15:32:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:27 [info] currentZPosition:0.0999
2025-04-24 15:32:28 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:28 [debug] Diagnostics for board 50:
2025-04-24 15:32:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:33 ago, cause: software
2025-04-24 15:32:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:28 [debug] Moves scheduled 41272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 425674563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:28 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16910, writes 0 timeouts 0
2025-04-24 15:32:28 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36090/37147
2025-04-24 15:32:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:28 [info] currentZPosition:0.101
2025-04-24 15:32:30 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:30 [debug] Diagnostics for board 50:
2025-04-24 15:32:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:35 ago, cause: software
2025-04-24 15:32:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:30 [debug] Moves scheduled 41276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 424620841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:32:30 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17670, writes 0 timeouts 0
2025-04-24 15:32:30 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36031/37159
2025-04-24 15:32:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:30 [info] currentZPosition:0.101
2025-04-24 15:32:31 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:31 [debug] Diagnostics for board 50:
2025-04-24 15:32:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:36 ago, cause: software
2025-04-24 15:32:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:31 [debug] Moves scheduled 41280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 61, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 423592203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:32:31 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17258, writes 0 timeouts 0
2025-04-24 15:32:31 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36086/37092
2025-04-24 15:32:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:31 [info] currentZPosition:0.101
2025-04-24 15:32:32 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:32 [debug] Diagnostics for board 50:
2025-04-24 15:32:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:37 ago, cause: software
2025-04-24 15:32:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:32 [debug] Moves scheduled 41284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 422552583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:32:32 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17490, writes 0 timeouts 0
2025-04-24 15:32:32 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 435, adv 36020/37088
2025-04-24 15:32:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:33 [info] currentZPosition:0.101
2025-04-24 15:32:34 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:34 [debug] Diagnostics for board 50:
2025-04-24 15:32:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:39 ago, cause: software
2025-04-24 15:32:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:34 [debug] Moves scheduled 41288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 421515249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:32:34 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17370, writes 0 timeouts 0
2025-04-24 15:32:34 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36111/37132
2025-04-24 15:32:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:34 [info] currentZPosition:0.101
2025-04-24 15:32:35 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:35 [debug] Diagnostics for board 50:
2025-04-24 15:32:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:40 ago, cause: software
2025-04-24 15:32:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:35 [debug] Moves scheduled 41292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 420465844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:32:35 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17603, writes 0 timeouts 0
2025-04-24 15:32:35 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36023/37094
2025-04-24 15:32:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:35 [info] currentZPosition:0.101
2025-04-24 15:32:37 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:37 [debug] Diagnostics for board 50:
2025-04-24 15:32:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:42 ago, cause: software
2025-04-24 15:32:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:37 [debug] Moves scheduled 41296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 419438587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:32:37 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17246, writes 0 timeouts 0
2025-04-24 15:32:37 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36087/37162
2025-04-24 15:32:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:37 [info] currentZPosition:0.101
2025-04-24 15:32:38 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:38 [debug] Diagnostics for board 50:
2025-04-24 15:32:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:43 ago, cause: software
2025-04-24 15:32:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:38 [debug] Moves scheduled 41300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 418385087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:32:38 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17679, writes 0 timeouts 0
2025-04-24 15:32:38 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36047/37107
2025-04-24 15:32:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:38 [info] currentZPosition:0.101
2025-04-24 15:32:39 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:39 [debug] Diagnostics for board 50:
2025-04-24 15:32:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:44 ago, cause: software
2025-04-24 15:32:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:39 [debug] Moves scheduled 41304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 417350823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:32:39 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17359, writes 0 timeouts 0
2025-04-24 15:32:39 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36083/37108
2025-04-24 15:32:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:39 [info] currentZPosition:0.100
2025-04-24 15:32:41 [debug] Stopped at height 0.102 mm
2025-04-24 15:32:41 [debug] Diagnostics for board 50:
2025-04-24 15:32:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:46 ago, cause: software
2025-04-24 15:32:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:41 [debug] Moves scheduled 41308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 416312651 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:32:41 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17424, writes 0 timeouts 0
2025-04-24 15:32:41 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36016/37101
2025-04-24 15:32:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:41 [info] currentZPosition:0.102
2025-04-24 15:32:42 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:42 [debug] Diagnostics for board 50:
2025-04-24 15:32:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:47 ago, cause: software
2025-04-24 15:32:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:42 [debug] Moves scheduled 41312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 415281969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:32:42 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17290, writes 0 timeouts 0
2025-04-24 15:32:42 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36111/37105
2025-04-24 15:32:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:42 [info] currentZPosition:0.101
2025-04-24 15:32:44 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:44 [debug] Diagnostics for board 50:
2025-04-24 15:32:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:34:49 ago, cause: software
2025-04-24 15:32:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:44 [debug] Moves scheduled 41316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 88, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 414199452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:44 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18168, writes 0 timeouts 0
2025-04-24 15:32:44 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36044/37102
2025-04-24 15:32:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9212, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:44 [info] currentZPosition:0.100
2025-04-24 15:32:44 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:45 [debug] Stopped at height 0.102 mm
2025-04-24 15:32:45 [debug] Diagnostics for board 50:
2025-04-24 15:32:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:50 ago, cause: software
2025-04-24 15:32:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:45 [debug] Moves scheduled 41322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 412985771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:32:45 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20384, writes 0 timeouts 0
2025-04-24 15:32:45 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36112/37150
2025-04-24 15:32:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:45 [info] currentZPosition:0.102
2025-04-24 15:32:46 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:47 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:47 [debug] Diagnostics for board 50:
2025-04-24 15:32:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:52 ago, cause: software
2025-04-24 15:32:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:47 [debug] Moves scheduled 41328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 411674598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:32:47 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21999, writes 0 timeouts 0
2025-04-24 15:32:47 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37116
2025-04-24 15:32:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:47 [info] currentZPosition:0.101
2025-04-24 15:32:48 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:48 [debug] Diagnostics for board 50:
2025-04-24 15:32:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:53 ago, cause: software
2025-04-24 15:32:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:48 [debug] Moves scheduled 41332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 410654860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:32:48 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17123, writes 0 timeouts 0
2025-04-24 15:32:48 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36062/37083
2025-04-24 15:32:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:48 [info] currentZPosition:0.101
2025-04-24 15:32:50 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:50 [debug] Diagnostics for board 50:
2025-04-24 15:32:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:34:55 ago, cause: software
2025-04-24 15:32:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:50 [debug] Moves scheduled 41336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 409585614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:32:50 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17938, writes 0 timeouts 0
2025-04-24 15:32:50 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36073/37107
2025-04-24 15:32:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:50 [info] currentZPosition:0.101
2025-04-24 15:32:51 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:51 [debug] Diagnostics for board 50:
2025-04-24 15:32:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:34:56 ago, cause: software
2025-04-24 15:32:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:51 [debug] Moves scheduled 41340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 408566473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:32:51 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17104, writes 0 timeouts 0
2025-04-24 15:32:51 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36189/37155
2025-04-24 15:32:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:51 [info] currentZPosition:0.101
2025-04-24 15:32:52 [debug] Stopped at height 0.102 mm
2025-04-24 15:32:52 [debug] Diagnostics for board 50:
2025-04-24 15:32:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:57 ago, cause: software
2025-04-24 15:32:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:52 [debug] Moves scheduled 41344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 407525009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:32:52 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17473, writes 0 timeouts 0
2025-04-24 15:32:52 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36045/37106
2025-04-24 15:32:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:53 [info] currentZPosition:0.102
2025-04-24 15:32:54 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:54 [debug] Diagnostics for board 50:
2025-04-24 15:32:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:34:59 ago, cause: software
2025-04-24 15:32:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:54 [debug] Moves scheduled 41348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 406492314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:32:54 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17328, writes 0 timeouts 0
2025-04-24 15:32:54 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36346/37097
2025-04-24 15:32:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:54 [info] currentZPosition:0.101
2025-04-24 15:32:55 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:55 [debug] Diagnostics for board 50:
2025-04-24 15:32:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:00 ago, cause: software
2025-04-24 15:32:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:55 [debug] Moves scheduled 41352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 405426151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:32:55 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17889, writes 0 timeouts 0
2025-04-24 15:32:55 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36054/37156
2025-04-24 15:32:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:55 [info] currentZPosition:0.101
2025-04-24 15:32:57 [debug] Stopped at height 0.101 mm
2025-04-24 15:32:57 [debug] Diagnostics for board 50:
2025-04-24 15:32:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:02 ago, cause: software
2025-04-24 15:32:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:57 [debug] Moves scheduled 41356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 404407119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:32:57 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17114, writes 0 timeouts 0
2025-04-24 15:32:57 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36295/37105
2025-04-24 15:32:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:57 [info] currentZPosition:0.101
2025-04-24 15:32:58 [debug] Stopped at height 0.102 mm
2025-04-24 15:32:58 [debug] Diagnostics for board 50:
2025-04-24 15:32:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:03 ago, cause: software
2025-04-24 15:32:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:58 [debug] Moves scheduled 41360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 403359175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:32:58 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17586, writes 0 timeouts 0
2025-04-24 15:32:58 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36042/37109
2025-04-24 15:32:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:32:58 [info] currentZPosition:0.102
2025-04-24 15:32:59 [debug] Stopped at height 0.100 mm
2025-04-24 15:32:59 [debug] Diagnostics for board 50:
2025-04-24 15:32:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:32:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:04 ago, cause: software
2025-04-24 15:32:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:32:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:32:59 [debug] Moves scheduled 41364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 402300872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:32:59 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17742, writes 0 timeouts 0
2025-04-24 15:32:59 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36321/37123
2025-04-24 15:32:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9169, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:00 [info] currentZPosition:0.100
2025-04-24 15:33:00 [debug] Stopped at height 0.099 mm
2025-04-24 15:33:01 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:01 [debug] Diagnostics for board 50:
2025-04-24 15:33:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:06 ago, cause: software
2025-04-24 15:33:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:01 [debug] Moves scheduled 41370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 401009345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:33:01 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21681, writes 0 timeouts 0
2025-04-24 15:33:01 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36055/37137
2025-04-24 15:33:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:01 [info] currentZPosition:0.101
2025-04-24 15:33:03 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:03 [debug] Diagnostics for board 50:
2025-04-24 15:33:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:07 ago, cause: software
2025-04-24 15:33:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:03 [debug] Moves scheduled 41374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 400000960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:33:03 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16930, writes 0 timeouts 0
2025-04-24 15:33:03 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36336/37130
2025-04-24 15:33:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:03 [info] currentZPosition:0.101
2025-04-24 15:33:04 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:04 [debug] Diagnostics for board 50:
2025-04-24 15:33:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:09 ago, cause: software
2025-04-24 15:33:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:04 [debug] Moves scheduled 41378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 398937899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:33:04 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17823, writes 0 timeouts 0
2025-04-24 15:33:04 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35997/37100
2025-04-24 15:33:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:04 [info] currentZPosition:0.101
2025-04-24 15:33:05 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:05 [debug] Diagnostics for board 50:
2025-04-24 15:33:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:10 ago, cause: software
2025-04-24 15:33:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:05 [debug] Moves scheduled 41382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 397934887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:33:05 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16829, writes 0 timeouts 0
2025-04-24 15:33:05 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36359/37108
2025-04-24 15:33:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:05 [info] currentZPosition:0.102
2025-04-24 15:33:07 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:07 [debug] Diagnostics for board 50:
2025-04-24 15:33:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:12 ago, cause: software
2025-04-24 15:33:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:07 [debug] Moves scheduled 41386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 396859892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:33:07 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18059, writes 0 timeouts 0
2025-04-24 15:33:07 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36026/37150
2025-04-24 15:33:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:07 [info] currentZPosition:0.101
2025-04-24 15:33:08 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:08 [debug] Diagnostics for board 50:
2025-04-24 15:33:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:13 ago, cause: software
2025-04-24 15:33:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:08 [debug] Moves scheduled 41390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 395842718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:33:08 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17071, writes 0 timeouts 0
2025-04-24 15:33:08 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36328/37139
2025-04-24 15:33:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:08 [info] currentZPosition:0.102
2025-04-24 15:33:09 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:09 [debug] Diagnostics for board 50:
2025-04-24 15:33:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:14 ago, cause: software
2025-04-24 15:33:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:09 [debug] Moves scheduled 41394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 394782124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:33:09 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17798, writes 0 timeouts 0
2025-04-24 15:33:09 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35992/37146
2025-04-24 15:33:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:10 [info] currentZPosition:0.101
2025-04-24 15:33:11 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:11 [debug] Diagnostics for board 50:
2025-04-24 15:33:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:35:16 ago, cause: software
2025-04-24 15:33:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:11 [debug] Moves scheduled 41398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 393760798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:33:11 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17139, writes 0 timeouts 0
2025-04-24 15:33:11 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36342/37169
2025-04-24 15:33:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:11 [info] currentZPosition:0.101
2025-04-24 15:33:12 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:12 [debug] Diagnostics for board 50:
2025-04-24 15:33:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:17 ago, cause: software
2025-04-24 15:33:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:12 [debug] Moves scheduled 41402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 392691160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:33:12 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17951, writes 0 timeouts 0
2025-04-24 15:33:12 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36043/37162
2025-04-24 15:33:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:12 [info] currentZPosition:0.101
2025-04-24 15:33:14 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:14 [debug] Diagnostics for board 50:
2025-04-24 15:33:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:19 ago, cause: software
2025-04-24 15:33:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:14 [debug] Moves scheduled 41406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 391683140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:33:14 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16905, writes 0 timeouts 0
2025-04-24 15:33:14 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36331/37172
2025-04-24 15:33:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:14 [info] currentZPosition:0.102
2025-04-24 15:33:15 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:15 [debug] Diagnostics for board 50:
2025-04-24 15:33:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:20 ago, cause: software
2025-04-24 15:33:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:15 [debug] Moves scheduled 41410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 390623976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:33:15 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17783, writes 0 timeouts 0
2025-04-24 15:33:15 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36049/37099
2025-04-24 15:33:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:15 [info] currentZPosition:0.102
2025-04-24 15:33:16 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:16 [debug] Diagnostics for board 50:
2025-04-24 15:33:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:21 ago, cause: software
2025-04-24 15:33:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:16 [debug] Moves scheduled 41414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 389606241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:33:16 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17070, writes 0 timeouts 0
2025-04-24 15:33:16 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36357/37119
2025-04-24 15:33:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:16 [info] currentZPosition:0.103
2025-04-24 15:33:18 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:18 [debug] Diagnostics for board 50:
2025-04-24 15:33:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:23 ago, cause: software
2025-04-24 15:33:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:18 [debug] Moves scheduled 41418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 101, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 388533514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:33:18 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18011, writes 0 timeouts 0
2025-04-24 15:33:18 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36056/37093
2025-04-24 15:33:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:18 [info] currentZPosition:0.102
2025-04-24 15:33:19 [debug] Stopped at height 0.100 mm
2025-04-24 15:33:19 [debug] Diagnostics for board 50:
2025-04-24 15:33:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:24 ago, cause: software
2025-04-24 15:33:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:19 [debug] Moves scheduled 41422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 387480578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:33:19 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17666, writes 0 timeouts 0
2025-04-24 15:33:19 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36296/37137
2025-04-24 15:33:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9236, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:19 [info] currentZPosition:0.100
2025-04-24 15:33:20 [debug] Stopped at height 0.100 mm
2025-04-24 15:33:21 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:21 [debug] Diagnostics for board 50:
2025-04-24 15:33:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:26 ago, cause: software
2025-04-24 15:33:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:21 [debug] Moves scheduled 41428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9740, max=15000
Sync err accum 118, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 386217558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:33:21 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21191, writes 0 timeouts 0
2025-04-24 15:33:21 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36054/37117
2025-04-24 15:33:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:21 [info] currentZPosition:0.102
2025-04-24 15:33:21 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:23 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:23 [debug] Diagnostics for board 50:
2025-04-24 15:33:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:28 ago, cause: software
2025-04-24 15:33:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:23 [debug] Moves scheduled 41434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 384941455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:33:23 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21419, writes 0 timeouts 0
2025-04-24 15:33:23 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36357/37168
2025-04-24 15:33:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:23 [info] currentZPosition:0.102
2025-04-24 15:33:24 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:24 [debug] Diagnostics for board 50:
2025-04-24 15:33:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:29 ago, cause: software
2025-04-24 15:33:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:24 [debug] Moves scheduled 41438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 383883684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:33:24 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17746, writes 0 timeouts 0
2025-04-24 15:33:24 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36087/37117
2025-04-24 15:33:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:24 [info] currentZPosition:0.101
2025-04-24 15:33:25 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:25 [debug] Diagnostics for board 50:
2025-04-24 15:33:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:30 ago, cause: software
2025-04-24 15:33:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:25 [debug] Moves scheduled 41442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 114, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 382884810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:33:25 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16806, writes 0 timeouts 0
2025-04-24 15:33:25 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36380/37143
2025-04-24 15:33:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:25 [info] currentZPosition:0.103
2025-04-24 15:33:26 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:27 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:27 [debug] Diagnostics for board 50:
2025-04-24 15:33:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:32 ago, cause: software
2025-04-24 15:33:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:27 [debug] Moves scheduled 41448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 381582134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:33:27 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21823, writes 0 timeouts 0
2025-04-24 15:33:27 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36043/37099
2025-04-24 15:33:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:27 [info] currentZPosition:0.102
2025-04-24 15:33:28 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:28 [debug] Diagnostics for board 50:
2025-04-24 15:33:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:33 ago, cause: software
2025-04-24 15:33:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:28 [debug] Moves scheduled 41452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 380557984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:33:28 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17195, writes 0 timeouts 0
2025-04-24 15:33:28 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36307/37127
2025-04-24 15:33:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9091, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:29 [info] currentZPosition:0.102
2025-04-24 15:33:30 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:30 [debug] Diagnostics for board 50:
2025-04-24 15:33:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:35 ago, cause: software
2025-04-24 15:33:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:30 [debug] Moves scheduled 41456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 379481385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:33:30 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18081, writes 0 timeouts 0
2025-04-24 15:33:30 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36033/37127
2025-04-24 15:33:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:30 [info] currentZPosition:0.101
2025-04-24 15:33:31 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:31 [debug] Diagnostics for board 50:
2025-04-24 15:33:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:36 ago, cause: software
2025-04-24 15:33:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:31 [debug] Moves scheduled 41460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 378475609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:33:31 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16853, writes 0 timeouts 0
2025-04-24 15:33:31 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36300/37134
2025-04-24 15:33:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:31 [info] currentZPosition:0.102
2025-04-24 15:33:33 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:33 [debug] Diagnostics for board 50:
2025-04-24 15:33:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:38 ago, cause: software
2025-04-24 15:33:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:33 [debug] Moves scheduled 41464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 58, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 377397479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:33:33 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18103, writes 0 timeouts 0
2025-04-24 15:33:33 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36047/37125
2025-04-24 15:33:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:33 [info] currentZPosition:0.101
2025-04-24 15:33:34 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:34 [debug] Diagnostics for board 50:
2025-04-24 15:33:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:39 ago, cause: software
2025-04-24 15:33:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:34 [debug] Moves scheduled 41468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 1/4, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 376370673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:33:34 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17251, writes 0 timeouts 0
2025-04-24 15:33:34 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36306/37165
2025-04-24 15:33:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:34 [info] currentZPosition:0.101
2025-04-24 15:33:35 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:35 [debug] Diagnostics for board 50:
2025-04-24 15:33:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:40 ago, cause: software
2025-04-24 15:33:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:35 [debug] Moves scheduled 41472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 375325633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:33:35 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17519, writes 0 timeouts 0
2025-04-24 15:33:35 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35991/37106
2025-04-24 15:33:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:36 [info] currentZPosition:0.102
2025-04-24 15:33:37 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:37 [debug] Diagnostics for board 50:
2025-04-24 15:33:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:42 ago, cause: software
2025-04-24 15:33:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:37 [debug] Moves scheduled 41476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 374298550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:33:37 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17242, writes 0 timeouts 0
2025-04-24 15:33:37 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36321/37124
2025-04-24 15:33:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:37 [info] currentZPosition:0.101
2025-04-24 15:33:38 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:38 [debug] Diagnostics for board 50:
2025-04-24 15:33:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:43 ago, cause: software
2025-04-24 15:33:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:38 [debug] Moves scheduled 41480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 373257432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:33:38 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17524, writes 0 timeouts 0
2025-04-24 15:33:38 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36055/37086
2025-04-24 15:33:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:38 [info] currentZPosition:0.102
2025-04-24 15:33:40 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:40 [debug] Diagnostics for board 50:
2025-04-24 15:33:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:44 ago, cause: software
2025-04-24 15:33:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:40 [debug] Moves scheduled 41484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 372229688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:33:40 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17190, writes 0 timeouts 0
2025-04-24 15:33:40 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36391/37095
2025-04-24 15:33:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:40 [info] currentZPosition:0.102
2025-04-24 15:33:41 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:41 [debug] Diagnostics for board 50:
2025-04-24 15:33:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:46 ago, cause: software
2025-04-24 15:33:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:41 [debug] Moves scheduled 41488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 371157582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:33:41 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17980, writes 0 timeouts 0
2025-04-24 15:33:41 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36041/37122
2025-04-24 15:33:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:41 [info] currentZPosition:0.101
2025-04-24 15:33:42 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:42 [debug] Diagnostics for board 50:
2025-04-24 15:33:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:35:47 ago, cause: software
2025-04-24 15:33:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:42 [debug] Moves scheduled 41492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 370144709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:33:42 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17038, writes 0 timeouts 0
2025-04-24 15:33:42 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36320/37124
2025-04-24 15:33:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:42 [info] currentZPosition:0.102
2025-04-24 15:33:44 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:44 [debug] Diagnostics for board 50:
2025-04-24 15:33:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:49 ago, cause: software
2025-04-24 15:33:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:44 [debug] Moves scheduled 41496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 369088173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:33:44 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17699, writes 0 timeouts 0
2025-04-24 15:33:44 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36007/37166
2025-04-24 15:33:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:44 [info] currentZPosition:0.102
2025-04-24 15:33:45 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:45 [debug] Diagnostics for board 50:
2025-04-24 15:33:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:50 ago, cause: software
2025-04-24 15:33:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:45 [debug] Moves scheduled 41500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -3/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 368076941 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:33:45 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16972, writes 0 timeouts 0
2025-04-24 15:33:45 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 480, adv 36192/37079
2025-04-24 15:33:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:45 [info] currentZPosition:0.103
2025-04-24 15:33:47 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:47 [debug] Diagnostics for board 50:
2025-04-24 15:33:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:51 ago, cause: software
2025-04-24 15:33:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:47 [debug] Moves scheduled 41504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 366997004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:33:47 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18165, writes 0 timeouts 0
2025-04-24 15:33:47 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36020/37100
2025-04-24 15:33:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:47 [info] currentZPosition:0.101
2025-04-24 15:33:47 [debug] Stopped at height 0.100 mm
2025-04-24 15:33:48 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:48 [debug] Diagnostics for board 50:
2025-04-24 15:33:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:53 ago, cause: software
2025-04-24 15:33:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:48 [debug] Moves scheduled 41510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 365743622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:33:48 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20985, writes 0 timeouts 0
2025-04-24 15:33:48 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36155/37123
2025-04-24 15:33:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:48 [info] currentZPosition:0.103
2025-04-24 15:33:49 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:50 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:50 [debug] Diagnostics for board 50:
2025-04-24 15:33:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:35:55 ago, cause: software
2025-04-24 15:33:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:50 [debug] Moves scheduled 41516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 364452505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:33:50 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21661, writes 0 timeouts 0
2025-04-24 15:33:50 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36021/37104
2025-04-24 15:33:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:50 [info] currentZPosition:0.103
2025-04-24 15:33:50 [debug] Stopped at height 0.101 mm
2025-04-24 15:33:52 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:52 [debug] Diagnostics for board 50:
2025-04-24 15:33:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:57 ago, cause: software
2025-04-24 15:33:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:52 [debug] Moves scheduled 41522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 117, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 363174967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:33:52 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21428, writes 0 timeouts 0
2025-04-24 15:33:52 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36058/37153
2025-04-24 15:33:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:52 [info] currentZPosition:0.102
2025-04-24 15:33:53 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:53 [debug] Diagnostics for board 50:
2025-04-24 15:33:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:35:58 ago, cause: software
2025-04-24 15:33:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:53 [debug] Moves scheduled 41526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 124, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 362143992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:33:53 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17299, writes 0 timeouts 0
2025-04-24 15:33:53 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36001/37089
2025-04-24 15:33:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:53 [info] currentZPosition:0.103
2025-04-24 15:33:53 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:55 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:55 [debug] Diagnostics for board 50:
2025-04-24 15:33:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:36:00 ago, cause: software
2025-04-24 15:33:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:55 [debug] Moves scheduled 41532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 122, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 360880792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:33:55 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21206, writes 0 timeouts 0
2025-04-24 15:33:55 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36101/37158
2025-04-24 15:33:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:55 [info] currentZPosition:0.103
2025-04-24 15:33:56 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:56 [debug] Diagnostics for board 50:
2025-04-24 15:33:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:36:01 ago, cause: software
2025-04-24 15:33:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:56 [debug] Moves scheduled 41536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -4/-2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 359821581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:33:56 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17778, writes 0 timeouts 0
2025-04-24 15:33:56 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36019/37162
2025-04-24 15:33:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:56 [info] currentZPosition:0.103
2025-04-24 15:33:57 [debug] Stopped at height 0.103 mm
2025-04-24 15:33:57 [debug] Diagnostics for board 50:
2025-04-24 15:33:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:02 ago, cause: software
2025-04-24 15:33:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:57 [debug] Moves scheduled 41540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -2/-2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 358802984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:33:57 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17085, writes 0 timeouts 0
2025-04-24 15:33:57 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36085/37117
2025-04-24 15:33:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:58 [info] currentZPosition:0.103
2025-04-24 15:33:59 [debug] Stopped at height 0.102 mm
2025-04-24 15:33:59 [debug] Diagnostics for board 50:
2025-04-24 15:33:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:33:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:04 ago, cause: software
2025-04-24 15:33:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:33:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:33:59 [debug] Moves scheduled 41544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 75, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 357722713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:33:59 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18130, writes 0 timeouts 0
2025-04-24 15:33:59 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36044/37117
2025-04-24 15:33:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:33:59 [info] currentZPosition:0.102
2025-04-24 15:34:00 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:00 [debug] Diagnostics for board 50:
2025-04-24 15:34:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:36:05 ago, cause: software
2025-04-24 15:34:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:00 [debug] Moves scheduled 41548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 58, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 356719106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:34:00 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16852, writes 0 timeouts 0
2025-04-24 15:34:00 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36076/37129
2025-04-24 15:34:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:00 [info] currentZPosition:0.103
2025-04-24 15:34:02 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:02 [debug] Diagnostics for board 50:
2025-04-24 15:34:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:36:07 ago, cause: software
2025-04-24 15:34:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:02 [debug] Moves scheduled 41552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 1/4, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 355657064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:34:02 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17824, writes 0 timeouts 0
2025-04-24 15:34:02 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36000/37094
2025-04-24 15:34:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:02 [info] currentZPosition:0.103
2025-04-24 15:34:03 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:03 [debug] Diagnostics for board 50:
2025-04-24 15:34:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:36:08 ago, cause: software
2025-04-24 15:34:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:03 [debug] Moves scheduled 41556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 354605962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:34:03 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17654, writes 0 timeouts 0
2025-04-24 15:34:03 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 36041/37135
2025-04-24 15:34:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9211, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:03 [info] currentZPosition:0.101
2025-04-24 15:34:04 [debug] Stopped at height 0.099 mm
2025-04-24 15:34:04 [debug] Stopped at height 0.098 mm
2025-04-24 15:34:05 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:05 [debug] Diagnostics for board 50:
2025-04-24 15:34:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:36:10 ago, cause: software
2025-04-24 15:34:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:05 [debug] Moves scheduled 41564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 353079789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:34:05 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25585, writes 0 timeouts 0
2025-04-24 15:34:05 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36032/37139
2025-04-24 15:34:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:05 [info] currentZPosition:0.102
2025-04-24 15:34:06 [debug] Stopped at height 0.100 mm
2025-04-24 15:34:06 [debug] Stopped at height 0.099 mm
2025-04-24 15:34:07 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:07 [debug] Diagnostics for board 50:
2025-04-24 15:34:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:12 ago, cause: software
2025-04-24 15:34:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:07 [debug] Moves scheduled 41572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 112, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 351569185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:34:07 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25345, writes 0 timeouts 0
2025-04-24 15:34:07 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36066/37123
2025-04-24 15:34:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:07 [info] currentZPosition:0.102
2025-04-24 15:34:08 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:09 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:09 [debug] Diagnostics for board 50:
2025-04-24 15:34:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:14 ago, cause: software
2025-04-24 15:34:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:09 [debug] Moves scheduled 41578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 115, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 350288046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:34:09 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21517, writes 0 timeouts 0
2025-04-24 15:34:09 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 406, adv 36016/37102
2025-04-24 15:34:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:09 [info] currentZPosition:0.102
2025-04-24 15:34:10 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:10 [debug] Diagnostics for board 50:
2025-04-24 15:34:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:15 ago, cause: software
2025-04-24 15:34:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:10 [debug] Moves scheduled 41582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 349275960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:34:10 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 15:34:10 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36059/37114
2025-04-24 15:34:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:10 [info] currentZPosition:0.103
2025-04-24 15:34:12 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:12 [debug] Diagnostics for board 50:
2025-04-24 15:34:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:36:16 ago, cause: software
2025-04-24 15:34:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:12 [debug] Moves scheduled 41586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 110, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 348203445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:34:12 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17982, writes 0 timeouts 0
2025-04-24 15:34:12 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36020/37125
2025-04-24 15:34:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:12 [info] currentZPosition:0.102
2025-04-24 15:34:13 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:13 [debug] Diagnostics for board 50:
2025-04-24 15:34:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:36:18 ago, cause: software
2025-04-24 15:34:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:13 [debug] Moves scheduled 41590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 347197892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:34:13 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16890, writes 0 timeouts 0
2025-04-24 15:34:13 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36094/37156
2025-04-24 15:34:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:13 [info] currentZPosition:0.103
2025-04-24 15:34:14 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:14 [debug] Diagnostics for board 50:
2025-04-24 15:34:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:19 ago, cause: software
2025-04-24 15:34:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:14 [debug] Moves scheduled 41594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=799, max=14705
Sync err accum 97, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 346124033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:34:14 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17973, writes 11 timeouts 1
2025-04-24 15:34:14 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35996/37131
2025-04-24 15:34:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:14 [info] currentZPosition:0.102
2025-04-24 15:34:16 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:16 [debug] Diagnostics for board 50:
2025-04-24 15:34:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:21 ago, cause: software
2025-04-24 15:34:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:16 [debug] Moves scheduled 41598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 345104983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:34:16 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17102, writes 0 timeouts 0
2025-04-24 15:34:16 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36107/37130
2025-04-24 15:34:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:16 [info] currentZPosition:0.102
2025-04-24 15:34:17 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:17 [debug] Diagnostics for board 50:
2025-04-24 15:34:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:22 ago, cause: software
2025-04-24 15:34:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:17 [debug] Moves scheduled 41602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 75, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 344062229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:34:17 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17509, writes 0 timeouts 0
2025-04-24 15:34:17 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35989/37103
2025-04-24 15:34:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:17 [info] currentZPosition:0.103
2025-04-24 15:34:18 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:18 [debug] Diagnostics for board 50:
2025-04-24 15:34:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:36:23 ago, cause: software
2025-04-24 15:34:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:18 [debug] Moves scheduled 41606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 61, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 343029183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:34:18 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17320, writes 0 timeouts 0
2025-04-24 15:34:18 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36073/37077
2025-04-24 15:34:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:19 [info] currentZPosition:0.103
2025-04-24 15:34:20 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:20 [debug] Diagnostics for board 50:
2025-04-24 15:34:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:36:25 ago, cause: software
2025-04-24 15:34:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:20 [debug] Moves scheduled 41610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 341944208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:34:20 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18196, writes 0 timeouts 0
2025-04-24 15:34:20 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36033/37086
2025-04-24 15:34:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:20 [info] currentZPosition:0.101
2025-04-24 15:34:20 [debug] Stopped at height 0.099 mm
2025-04-24 15:34:21 [debug] Stopped at height 0.099 mm
2025-04-24 15:34:22 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:22 [debug] Diagnostics for board 50:
2025-04-24 15:34:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:36:27 ago, cause: software
2025-04-24 15:34:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:22 [debug] Moves scheduled 41618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 340424138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:34:22 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25511, writes 0 timeouts 0
2025-04-24 15:34:22 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36071/37114
2025-04-24 15:34:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:22 [info] currentZPosition:0.101
2025-04-24 15:34:22 [debug] Stopped at height 0.099 mm
2025-04-24 15:34:24 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:24 [debug] Diagnostics for board 50:
2025-04-24 15:34:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:29 ago, cause: software
2025-04-24 15:34:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:24 [debug] Moves scheduled 41624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 339173796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:34:24 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20980, writes 0 timeouts 0
2025-04-24 15:34:24 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36086/37167
2025-04-24 15:34:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:24 [info] currentZPosition:0.103
2025-04-24 15:34:24 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:25 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:25 [debug] Diagnostics for board 50:
2025-04-24 15:34:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:30 ago, cause: software
2025-04-24 15:34:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:25 [debug] Moves scheduled 41630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 337901905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:34:25 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21365, writes 0 timeouts 0
2025-04-24 15:34:25 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36093/37134
2025-04-24 15:34:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:25 [info] currentZPosition:0.102
2025-04-24 15:34:27 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:27 [debug] Diagnostics for board 50:
2025-04-24 15:34:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:36:32 ago, cause: software
2025-04-24 15:34:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:27 [debug] Moves scheduled 41634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 336870406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:34:27 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17283, writes 0 timeouts 0
2025-04-24 15:34:27 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36092/37079
2025-04-24 15:34:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:27 [info] currentZPosition:0.103
2025-04-24 15:34:27 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:28 [debug] Stopped at height 0.104 mm
2025-04-24 15:34:28 [debug] Diagnostics for board 50:
2025-04-24 15:34:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:33 ago, cause: software
2025-04-24 15:34:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:28 [debug] Moves scheduled 41640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 335629312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:34:28 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20831, writes 0 timeouts 0
2025-04-24 15:34:28 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36062/37162
2025-04-24 15:34:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:28 [info] currentZPosition:0.104
2025-04-24 15:34:29 [debug] Stopped at height 0.100 mm
2025-04-24 15:34:29 [debug] Stopped at height 0.099 mm
2025-04-24 15:34:30 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:30 [debug] Diagnostics for board 50:
2025-04-24 15:34:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:35 ago, cause: software
2025-04-24 15:34:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:30 [debug] Moves scheduled 41648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 334068414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:34:30 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26224, writes 0 timeouts 0
2025-04-24 15:34:30 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36025/37171
2025-04-24 15:34:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:31 [info] currentZPosition:0.103
2025-04-24 15:34:31 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:32 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:32 [debug] Diagnostics for board 50:
2025-04-24 15:34:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:36:37 ago, cause: software
2025-04-24 15:34:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:32 [debug] Moves scheduled 41654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 332818990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:34:32 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20939, writes 0 timeouts 0
2025-04-24 15:34:32 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36140/37108
2025-04-24 15:34:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:32 [info] currentZPosition:0.103
2025-04-24 15:34:33 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:34 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:34 [debug] Diagnostics for board 50:
2025-04-24 15:34:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:36:39 ago, cause: software
2025-04-24 15:34:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:34 [debug] Moves scheduled 41660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9259, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 331517188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:34:34 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21843, writes 0 timeouts 0
2025-04-24 15:34:34 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36101/37158
2025-04-24 15:34:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:34 [info] currentZPosition:0.103
2025-04-24 15:34:35 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:35 [debug] Diagnostics for board 50:
2025-04-24 15:34:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:40 ago, cause: software
2025-04-24 15:34:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:35 [debug] Moves scheduled 41664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 330503663 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:34:35 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17030, writes 0 timeouts 0
2025-04-24 15:34:35 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36059/37158
2025-04-24 15:34:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:35 [info] currentZPosition:0.103
2025-04-24 15:34:37 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:37 [debug] Diagnostics for board 50:
2025-04-24 15:34:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:42 ago, cause: software
2025-04-24 15:34:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:37 [debug] Moves scheduled 41668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 74, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 329425881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:34:37 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18060, writes 0 timeouts 0
2025-04-24 15:34:37 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35999/37157
2025-04-24 15:34:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:37 [info] currentZPosition:0.102
2025-04-24 15:34:38 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:38 [debug] Diagnostics for board 50:
2025-04-24 15:34:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:43 ago, cause: software
2025-04-24 15:34:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:38 [debug] Moves scheduled 41672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 78, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 328406625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:34:38 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17125, writes 0 timeouts 0
2025-04-24 15:34:38 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36058/37130
2025-04-24 15:34:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:38 [info] currentZPosition:0.103
2025-04-24 15:34:39 [debug] Stopped at height 0.104 mm
2025-04-24 15:34:39 [debug] Diagnostics for board 50:
2025-04-24 15:34:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:36:44 ago, cause: software
2025-04-24 15:34:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:39 [debug] Moves scheduled 41676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 327368055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:34:39 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17425, writes 0 timeouts 0
2025-04-24 15:34:39 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36020/37119
2025-04-24 15:34:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:39 [info] currentZPosition:0.104
2025-04-24 15:34:41 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:41 [debug] Diagnostics for board 50:
2025-04-24 15:34:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:46 ago, cause: software
2025-04-24 15:34:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:41 [debug] Moves scheduled 41680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 326311011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:34:41 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17716, writes 0 timeouts 0
2025-04-24 15:34:41 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36068/37172
2025-04-24 15:34:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9246, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:41 [info] currentZPosition:0.102
2025-04-24 15:34:41 [debug] Stopped at height 0.100 mm
2025-04-24 15:34:42 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:42 [debug] Diagnostics for board 50:
2025-04-24 15:34:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:47 ago, cause: software
2025-04-24 15:34:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:42 [debug] Moves scheduled 41686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=8620, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 325029129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:34:42 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21525, writes 0 timeouts 0
2025-04-24 15:34:42 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36045/37151
2025-04-24 15:34:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:43 [info] currentZPosition:0.103
2025-04-24 15:34:43 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:44 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:44 [debug] Diagnostics for board 50:
2025-04-24 15:34:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:36:49 ago, cause: software
2025-04-24 15:34:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:44 [debug] Moves scheduled 41692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 323774210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:34:44 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21048, writes 0 timeouts 0
2025-04-24 15:34:44 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36163/37139
2025-04-24 15:34:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:44 [info] currentZPosition:0.103
2025-04-24 15:34:45 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:46 [debug] Stopped at height 0.104 mm
2025-04-24 15:34:46 [debug] Diagnostics for board 50:
2025-04-24 15:34:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:51 ago, cause: software
2025-04-24 15:34:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:46 [debug] Moves scheduled 41698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 322495837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:34:46 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21446, writes 0 timeouts 0
2025-04-24 15:34:46 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36015/37101
2025-04-24 15:34:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:46 [info] currentZPosition:0.104
2025-04-24 15:34:46 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:48 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:48 [debug] Diagnostics for board 50:
2025-04-24 15:34:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:53 ago, cause: software
2025-04-24 15:34:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:48 [debug] Moves scheduled 41704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 321192040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:34:48 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21883, writes 0 timeouts 0
2025-04-24 15:34:48 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36333/37140
2025-04-24 15:34:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:48 [info] currentZPosition:0.101
2025-04-24 15:34:48 [debug] Stopped at height 0.100 mm
2025-04-24 15:34:48 [debug] Stopped at height 0.099 mm
2025-04-24 15:34:50 [debug] Stopped at height 0.104 mm
2025-04-24 15:34:50 [debug] Diagnostics for board 50:
2025-04-24 15:34:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:36:55 ago, cause: software
2025-04-24 15:34:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:50 [debug] Moves scheduled 41712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 319692141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:34:50 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25162, writes 0 timeouts 0
2025-04-24 15:34:50 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36100/37119
2025-04-24 15:34:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:50 [info] currentZPosition:0.104
2025-04-24 15:34:50 [debug] Stopped at height 0.100 mm
2025-04-24 15:34:51 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:51 [debug] Diagnostics for board 50:
2025-04-24 15:34:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:36:56 ago, cause: software
2025-04-24 15:34:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:51 [debug] Moves scheduled 41718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 318405652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:34:51 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21580, writes 0 timeouts 0
2025-04-24 15:34:51 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36299/37159
2025-04-24 15:34:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:51 [info] currentZPosition:0.102
2025-04-24 15:34:52 [debug] Stopped at height 0.100 mm
2025-04-24 15:34:53 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:53 [debug] Diagnostics for board 50:
2025-04-24 15:34:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:36:58 ago, cause: software
2025-04-24 15:34:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:53 [debug] Moves scheduled 41724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 317136167 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:34:53 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21300, writes 0 timeouts 0
2025-04-24 15:34:53 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35991/37098
2025-04-24 15:34:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:53 [info] currentZPosition:0.103
2025-04-24 15:34:53 [debug] Stopped at height 0.101 mm
2025-04-24 15:34:55 [debug] Stopped at height 0.102 mm
2025-04-24 15:34:55 [debug] Diagnostics for board 50:
2025-04-24 15:34:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:00 ago, cause: software
2025-04-24 15:34:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:55 [debug] Moves scheduled 41730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 315870988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:34:55 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21212, writes 0 timeouts 0
2025-04-24 15:34:55 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36371/37145
2025-04-24 15:34:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:55 [info] currentZPosition:0.102
2025-04-24 15:34:56 [debug] Stopped at height 0.104 mm
2025-04-24 15:34:56 [debug] Diagnostics for board 50:
2025-04-24 15:34:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:37:01 ago, cause: software
2025-04-24 15:34:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:56 [debug] Moves scheduled 41734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 314847548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:34:56 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17183, writes 0 timeouts 0
2025-04-24 15:34:56 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36077/37152
2025-04-24 15:34:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:56 [info] currentZPosition:0.104
2025-04-24 15:34:57 [debug] Stopped at height 0.103 mm
2025-04-24 15:34:58 [debug] Stopped at height 0.104 mm
2025-04-24 15:34:58 [debug] Diagnostics for board 50:
2025-04-24 15:34:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:03 ago, cause: software
2025-04-24 15:34:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:58 [debug] Moves scheduled 41740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 313581716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:34:58 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21245, writes 0 timeouts 0
2025-04-24 15:34:58 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36316/37105
2025-04-24 15:34:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:58 [info] currentZPosition:0.104
2025-04-24 15:34:59 [debug] Stopped at height 0.104 mm
2025-04-24 15:34:59 [debug] Diagnostics for board 50:
2025-04-24 15:34:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:34:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:04 ago, cause: software
2025-04-24 15:34:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:34:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:34:59 [debug] Moves scheduled 41744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 312520907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:34:59 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17805, writes 0 timeouts 0
2025-04-24 15:34:59 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36044/37141
2025-04-24 15:34:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:34:59 [info] currentZPosition:0.104
2025-04-24 15:35:01 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:01 [debug] Diagnostics for board 50:
2025-04-24 15:35:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:05 ago, cause: software
2025-04-24 15:35:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:01 [debug] Moves scheduled 41748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 91, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 311497101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:35:01 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17183, writes 0 timeouts 0
2025-04-24 15:35:01 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36347/37090
2025-04-24 15:35:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:01 [info] currentZPosition:0.104
2025-04-24 15:35:02 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:02 [debug] Diagnostics for board 50:
2025-04-24 15:35:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:07 ago, cause: software
2025-04-24 15:35:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:02 [debug] Moves scheduled 41752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 310418848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:35:02 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18098, writes 0 timeouts 0
2025-04-24 15:35:02 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 35989/37169
2025-04-24 15:35:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:02 [info] currentZPosition:0.103
2025-04-24 15:35:03 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:03 [debug] Diagnostics for board 50:
2025-04-24 15:35:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:08 ago, cause: software
2025-04-24 15:35:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:03 [debug] Moves scheduled 41756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 309378449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:35:03 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17446, writes 0 timeouts 0
2025-04-24 15:35:03 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36353/37126
2025-04-24 15:35:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9239, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:03 [info] currentZPosition:0.102
2025-04-24 15:35:05 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:05 [debug] Diagnostics for board 50:
2025-04-24 15:35:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:10 ago, cause: software
2025-04-24 15:35:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:05 [debug] Moves scheduled 41760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 308309665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:35:05 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17967, writes 0 timeouts 0
2025-04-24 15:35:05 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36021/37116
2025-04-24 15:35:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:05 [info] currentZPosition:0.101
2025-04-24 15:35:06 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:06 [debug] Diagnostics for board 50:
2025-04-24 15:35:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:37:11 ago, cause: software
2025-04-24 15:35:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:06 [debug] Moves scheduled 41764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 307291124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:35:06 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17036, writes 0 timeouts 0
2025-04-24 15:35:06 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36330/37165
2025-04-24 15:35:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:06 [info] currentZPosition:0.101
2025-04-24 15:35:08 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:08 [debug] Diagnostics for board 50:
2025-04-24 15:35:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:37:12 ago, cause: software
2025-04-24 15:35:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:08 [debug] Moves scheduled 41768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 306267204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:35:08 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17198, writes 0 timeouts 0
2025-04-24 15:35:08 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36062/37110
2025-04-24 15:35:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:08 [info] currentZPosition:0.103
2025-04-24 15:35:08 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:09 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:09 [debug] Diagnostics for board 50:
2025-04-24 15:35:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:14 ago, cause: software
2025-04-24 15:35:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:09 [debug] Moves scheduled 41774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 304992524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:35:09 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21397, writes 0 timeouts 0
2025-04-24 15:35:09 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36332/37091
2025-04-24 15:35:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:09 [info] currentZPosition:0.102
2025-04-24 15:35:11 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:11 [debug] Diagnostics for board 50:
2025-04-24 15:35:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:15 ago, cause: software
2025-04-24 15:35:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:11 [debug] Moves scheduled 41778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 303970202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:35:11 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17134, writes 0 timeouts 0
2025-04-24 15:35:11 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36024/37154
2025-04-24 15:35:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:11 [info] currentZPosition:0.104
2025-04-24 15:35:11 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:12 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:12 [debug] Diagnostics for board 50:
2025-04-24 15:35:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:17 ago, cause: software
2025-04-24 15:35:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:12 [debug] Moves scheduled 41784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 88, peak jitter 1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 302700523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:35:12 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21328, writes 0 timeouts 0
2025-04-24 15:35:12 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36308/37166
2025-04-24 15:35:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:12 [info] currentZPosition:0.103
2025-04-24 15:35:13 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:14 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:14 [debug] Diagnostics for board 50:
2025-04-24 15:35:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:19 ago, cause: software
2025-04-24 15:35:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:14 [debug] Moves scheduled 41790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10273, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 301407922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:35:14 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21678, writes 0 timeouts 0
2025-04-24 15:35:14 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36049/37134
2025-04-24 15:35:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:14 [info] currentZPosition:0.103
2025-04-24 15:35:14 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:16 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:16 [debug] Diagnostics for board 50:
2025-04-24 15:35:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:37:21 ago, cause: software
2025-04-24 15:35:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:16 [debug] Moves scheduled 41796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 300153798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:35:16 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21032, writes 0 timeouts 0
2025-04-24 15:35:16 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36327/37143
2025-04-24 15:35:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:16 [info] currentZPosition:0.103
2025-04-24 15:35:16 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:17 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:17 [debug] Diagnostics for board 50:
2025-04-24 15:35:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:22 ago, cause: software
2025-04-24 15:35:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:17 [debug] Moves scheduled 41802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 298870183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:35:17 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21530, writes 0 timeouts 0
2025-04-24 15:35:17 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36069/37112
2025-04-24 15:35:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:17 [info] currentZPosition:0.104
2025-04-24 15:35:18 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:19 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:19 [debug] Diagnostics for board 50:
2025-04-24 15:35:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:24 ago, cause: software
2025-04-24 15:35:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:19 [debug] Moves scheduled 41808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 297600691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:35:19 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21308, writes 0 timeouts 0
2025-04-24 15:35:19 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36345/37110
2025-04-24 15:35:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:19 [info] currentZPosition:0.103
2025-04-24 15:35:20 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:21 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:21 [debug] Diagnostics for board 50:
2025-04-24 15:35:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:26 ago, cause: software
2025-04-24 15:35:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:21 [debug] Moves scheduled 41814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 296303170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:35:21 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21758, writes 0 timeouts 0
2025-04-24 15:35:21 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36064/37171
2025-04-24 15:35:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:21 [info] currentZPosition:0.103
2025-04-24 15:35:21 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:22 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:22 [debug] Diagnostics for board 50:
2025-04-24 15:35:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:27 ago, cause: software
2025-04-24 15:35:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:22 [debug] Moves scheduled 41820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 295065524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:35:22 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20770, writes 0 timeouts 0
2025-04-24 15:35:22 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36300/37123
2025-04-24 15:35:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:23 [info] currentZPosition:0.104
2025-04-24 15:35:23 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:24 [debug] Stopped at height 0.106 mm
2025-04-24 15:35:24 [debug] Diagnostics for board 50:
2025-04-24 15:35:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:29 ago, cause: software
2025-04-24 15:35:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:24 [debug] Moves scheduled 41826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 293807297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:35:24 [debug] Driver 0: pos -3509, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21092, writes 0 timeouts 0
2025-04-24 15:35:24 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36042/37119
2025-04-24 15:35:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9058, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:24 [info] currentZPosition:0.106
2025-04-24 15:35:25 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:26 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:26 [debug] Diagnostics for board 50:
2025-04-24 15:35:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:31 ago, cause: software
2025-04-24 15:35:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:26 [debug] Moves scheduled 41832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 292515857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:35:26 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21675, writes 0 timeouts 0
2025-04-24 15:35:26 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36345/37122
2025-04-24 15:35:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:26 [info] currentZPosition:0.105
2025-04-24 15:35:27 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:27 [debug] Diagnostics for board 50:
2025-04-24 15:35:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:37:32 ago, cause: software
2025-04-24 15:35:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:27 [debug] Moves scheduled 41836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 291443891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:35:27 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17987, writes 0 timeouts 0
2025-04-24 15:35:27 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36085/37161
2025-04-24 15:35:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:27 [info] currentZPosition:0.104
2025-04-24 15:35:29 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:29 [debug] Diagnostics for board 50:
2025-04-24 15:35:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:34 ago, cause: software
2025-04-24 15:35:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:29 [debug] Moves scheduled 41840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 290432005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:35:29 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16986, writes 0 timeouts 0
2025-04-24 15:35:29 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36315/37079
2025-04-24 15:35:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:29 [info] currentZPosition:0.105
2025-04-24 15:35:30 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:30 [debug] Diagnostics for board 50:
2025-04-24 15:35:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:35 ago, cause: software
2025-04-24 15:35:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:30 [debug] Moves scheduled 41844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 289363876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:35:30 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17931, writes 0 timeouts 0
2025-04-24 15:35:30 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36017/37095
2025-04-24 15:35:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:30 [info] currentZPosition:0.104
2025-04-24 15:35:31 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:31 [debug] Diagnostics for board 50:
2025-04-24 15:35:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:36 ago, cause: software
2025-04-24 15:35:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:31 [debug] Moves scheduled 41848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 288328685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:35:31 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17362, writes 0 timeouts 0
2025-04-24 15:35:31 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36314/37169
2025-04-24 15:35:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:32 [info] currentZPosition:0.104
2025-04-24 15:35:33 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:33 [debug] Diagnostics for board 50:
2025-04-24 15:35:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:38 ago, cause: software
2025-04-24 15:35:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:33 [debug] Moves scheduled 41852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 287279178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:35:33 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17632, writes 0 timeouts 0
2025-04-24 15:35:33 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35990/37154
2025-04-24 15:35:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:33 [info] currentZPosition:0.104
2025-04-24 15:35:34 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:34 [debug] Diagnostics for board 50:
2025-04-24 15:35:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:39 ago, cause: software
2025-04-24 15:35:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:34 [debug] Moves scheduled 41856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 286241635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:35:34 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17411, writes 0 timeouts 0
2025-04-24 15:35:34 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36399/37166
2025-04-24 15:35:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:34 [info] currentZPosition:0.104
2025-04-24 15:35:36 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:36 [debug] Diagnostics for board 50:
2025-04-24 15:35:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:37:40 ago, cause: software
2025-04-24 15:35:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:36 [debug] Moves scheduled 41860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 285199733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:35:36 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17484, writes 0 timeouts 0
2025-04-24 15:35:36 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36042/37080
2025-04-24 15:35:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:36 [info] currentZPosition:0.105
2025-04-24 15:35:37 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:37 [debug] Diagnostics for board 50:
2025-04-24 15:35:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:42 ago, cause: software
2025-04-24 15:35:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:37 [debug] Moves scheduled 41864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 77, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 284117586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:35:37 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18169, writes 0 timeouts 0
2025-04-24 15:35:37 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36343/37111
2025-04-24 15:35:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:37 [info] currentZPosition:0.101
2025-04-24 15:35:37 [debug] Stopped at height 0.101 mm
2025-04-24 15:35:39 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:39 [debug] Diagnostics for board 50:
2025-04-24 15:35:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:44 ago, cause: software
2025-04-24 15:35:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:39 [debug] Moves scheduled 41870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 282863565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:35:39 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21047, writes 0 timeouts 0
2025-04-24 15:35:39 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36029/37166
2025-04-24 15:35:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:39 [info] currentZPosition:0.104
2025-04-24 15:35:39 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:40 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:40 [debug] Diagnostics for board 50:
2025-04-24 15:35:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:45 ago, cause: software
2025-04-24 15:35:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:40 [debug] Moves scheduled 41876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 281602866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:35:40 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21151, writes 0 timeouts 0
2025-04-24 15:35:40 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36341/37129
2025-04-24 15:35:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:40 [info] currentZPosition:0.104
2025-04-24 15:35:41 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:42 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:42 [debug] Diagnostics for board 50:
2025-04-24 15:35:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:47 ago, cause: software
2025-04-24 15:35:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:42 [debug] Moves scheduled 41882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 280297740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:35:42 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21884, writes 0 timeouts 0
2025-04-24 15:35:42 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36081/37123
2025-04-24 15:35:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:42 [info] currentZPosition:0.103
2025-04-24 15:35:44 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:44 [debug] Diagnostics for board 50:
2025-04-24 15:35:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:48 ago, cause: software
2025-04-24 15:35:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:44 [debug] Moves scheduled 41886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 279268774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:35:44 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17263, writes 0 timeouts 0
2025-04-24 15:35:44 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36204/37155
2025-04-24 15:35:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:44 [info] currentZPosition:0.103
2025-04-24 15:35:45 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:45 [debug] Diagnostics for board 50:
2025-04-24 15:35:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:37:50 ago, cause: software
2025-04-24 15:35:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:45 [debug] Moves scheduled 41890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 278251351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:35:45 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17084, writes 0 timeouts 0
2025-04-24 15:35:45 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36031/37141
2025-04-24 15:35:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:45 [info] currentZPosition:0.105
2025-04-24 15:35:45 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:47 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:47 [debug] Diagnostics for board 50:
2025-04-24 15:35:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:37:51 ago, cause: software
2025-04-24 15:35:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:47 [debug] Moves scheduled 41896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 276978456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:35:47 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21349, writes 0 timeouts 0
2025-04-24 15:35:47 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36079/37149
2025-04-24 15:35:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:47 [info] currentZPosition:0.104
2025-04-24 15:35:48 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:48 [debug] Diagnostics for board 50:
2025-04-24 15:35:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:53 ago, cause: software
2025-04-24 15:35:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:48 [debug] Moves scheduled 41900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 275932023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:35:48 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17577, writes 0 timeouts 0
2025-04-24 15:35:48 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36012/37117
2025-04-24 15:35:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:48 [info] currentZPosition:0.105
2025-04-24 15:35:49 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:49 [debug] Diagnostics for board 50:
2025-04-24 15:35:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:54 ago, cause: software
2025-04-24 15:35:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:49 [debug] Moves scheduled 41904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 274882248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:35:49 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17613, writes 0 timeouts 0
2025-04-24 15:35:49 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36106/37146
2025-04-24 15:35:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:49 [info] currentZPosition:0.103
2025-04-24 15:35:50 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:51 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:51 [debug] Diagnostics for board 50:
2025-04-24 15:35:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:56 ago, cause: software
2025-04-24 15:35:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:51 [debug] Moves scheduled 41910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 72, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 273566329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:35:51 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22080, writes 0 timeouts 0
2025-04-24 15:35:51 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36088/37152
2025-04-24 15:35:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:51 [info] currentZPosition:0.102
2025-04-24 15:35:52 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:52 [debug] Diagnostics for board 50:
2025-04-24 15:35:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:37:57 ago, cause: software
2025-04-24 15:35:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:52 [debug] Moves scheduled 41914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 272590934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:35:52 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16378, writes 0 timeouts 0
2025-04-24 15:35:52 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36145/37123
2025-04-24 15:35:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:53 [info] currentZPosition:0.105
2025-04-24 15:35:53 [debug] Stopped at height 0.102 mm
2025-04-24 15:35:54 [debug] Stopped at height 0.104 mm
2025-04-24 15:35:54 [debug] Diagnostics for board 50:
2025-04-24 15:35:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:37:59 ago, cause: software
2025-04-24 15:35:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:54 [debug] Moves scheduled 41920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 271283607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:35:54 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21915, writes 0 timeouts 0
2025-04-24 15:35:54 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36009/37133
2025-04-24 15:35:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:54 [info] currentZPosition:0.104
2025-04-24 15:35:55 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:56 [debug] Stopped at height 0.103 mm
2025-04-24 15:35:56 [debug] Diagnostics for board 50:
2025-04-24 15:35:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:01 ago, cause: software
2025-04-24 15:35:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:56 [debug] Moves scheduled 41926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 270020485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:35:56 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21203, writes 0 timeouts 0
2025-04-24 15:35:56 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36102/37147
2025-04-24 15:35:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:56 [info] currentZPosition:0.103
2025-04-24 15:35:57 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:57 [debug] Diagnostics for board 50:
2025-04-24 15:35:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:02 ago, cause: software
2025-04-24 15:35:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:57 [debug] Moves scheduled 41930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 268984898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:35:57 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17409, writes 0 timeouts 0
2025-04-24 15:35:57 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36084/37126
2025-04-24 15:35:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:57 [info] currentZPosition:0.105
2025-04-24 15:35:59 [debug] Stopped at height 0.105 mm
2025-04-24 15:35:59 [debug] Diagnostics for board 50:
2025-04-24 15:35:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:35:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:03 ago, cause: software
2025-04-24 15:35:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:35:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:35:59 [debug] Moves scheduled 41934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 267970231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:35:59 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17002, writes 0 timeouts 0
2025-04-24 15:35:59 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36091/37130
2025-04-24 15:35:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:35:59 [info] currentZPosition:0.105
2025-04-24 15:36:00 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:00 [debug] Diagnostics for board 50:
2025-04-24 15:36:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:38:05 ago, cause: software
2025-04-24 15:36:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:00 [debug] Moves scheduled 41938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=46, frequency (Hz): min=9036, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 266897442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:36:00 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17994, writes 0 timeouts 0
2025-04-24 15:36:00 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36053/37080
2025-04-24 15:36:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:00 [info] currentZPosition:0.104
2025-04-24 15:36:01 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:01 [debug] Diagnostics for board 50:
2025-04-24 15:36:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:06 ago, cause: software
2025-04-24 15:36:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:01 [debug] Moves scheduled 41942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 265873535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:01 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17207, writes 0 timeouts 0
2025-04-24 15:36:01 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36070/37128
2025-04-24 15:36:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:01 [info] currentZPosition:0.104
2025-04-24 15:36:03 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:03 [debug] Diagnostics for board 50:
2025-04-24 15:36:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:08 ago, cause: software
2025-04-24 15:36:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:03 [debug] Moves scheduled 41946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 264815153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:03 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17748, writes 0 timeouts 0
2025-04-24 15:36:03 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36017/37124
2025-04-24 15:36:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:03 [info] currentZPosition:0.104
2025-04-24 15:36:04 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:04 [debug] Diagnostics for board 50:
2025-04-24 15:36:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:09 ago, cause: software
2025-04-24 15:36:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:04 [debug] Moves scheduled 41950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 263801340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:04 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17020, writes 0 timeouts 0
2025-04-24 15:36:04 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36099/37157
2025-04-24 15:36:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 827
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:04 [info] currentZPosition:0.105
2025-04-24 15:36:06 [debug] Stopped at height 0.103 mm
2025-04-24 15:36:06 [debug] Diagnostics for board 50:
2025-04-24 15:36:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:38:10 ago, cause: software
2025-04-24 15:36:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:06 [debug] Moves scheduled 41954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 262709856 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:36:06 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18333, writes 0 timeouts 0
2025-04-24 15:36:06 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36108/37104
2025-04-24 15:36:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9280, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:06 [info] currentZPosition:0.103
2025-04-24 15:36:06 [debug] Stopped at height 0.102 mm
2025-04-24 15:36:07 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:07 [debug] Diagnostics for board 50:
2025-04-24 15:36:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:12 ago, cause: software
2025-04-24 15:36:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:07 [debug] Moves scheduled 41960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 74, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 261472264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:07 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20744, writes 0 timeouts 0
2025-04-24 15:36:07 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36143/37168
2025-04-24 15:36:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:07 [info] currentZPosition:0.104
2025-04-24 15:36:08 [debug] Stopped at height 0.102 mm
2025-04-24 15:36:09 [debug] Stopped at height 0.103 mm
2025-04-24 15:36:09 [debug] Diagnostics for board 50:
2025-04-24 15:36:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:14 ago, cause: software
2025-04-24 15:36:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:09 [debug] Moves scheduled 41966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 260160863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:09 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21996, writes 0 timeouts 0
2025-04-24 15:36:09 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36058/37148
2025-04-24 15:36:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9246, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:09 [info] currentZPosition:0.103
2025-04-24 15:36:10 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:10 [debug] Diagnostics for board 50:
2025-04-24 15:36:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:15 ago, cause: software
2025-04-24 15:36:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:10 [debug] Moves scheduled 41970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 259170284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:36:10 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16690, writes 0 timeouts 0
2025-04-24 15:36:10 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36097/37120
2025-04-24 15:36:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:10 [info] currentZPosition:0.105
2025-04-24 15:36:11 [debug] Stopped at height 0.103 mm
2025-04-24 15:36:12 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:12 [debug] Diagnostics for board 50:
2025-04-24 15:36:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:17 ago, cause: software
2025-04-24 15:36:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:12 [debug] Moves scheduled 41976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 257881929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:36:12 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21571, writes 0 timeouts 0
2025-04-24 15:36:12 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36052/37155
2025-04-24 15:36:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:12 [info] currentZPosition:0.105
2025-04-24 15:36:12 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:14 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:14 [debug] Diagnostics for board 50:
2025-04-24 15:36:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:19 ago, cause: software
2025-04-24 15:36:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:14 [debug] Moves scheduled 41982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 69, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 256625417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:14 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21076, writes 0 timeouts 0
2025-04-24 15:36:14 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36063/37119
2025-04-24 15:36:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:14 [info] currentZPosition:0.105
2025-04-24 15:36:15 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:15 [debug] Diagnostics for board 50:
2025-04-24 15:36:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:20 ago, cause: software
2025-04-24 15:36:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:15 [debug] Moves scheduled 41986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 70, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 255577928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:36:15 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17589, writes 0 timeouts 0
2025-04-24 15:36:15 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36043/37105
2025-04-24 15:36:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:15 [info] currentZPosition:0.105
2025-04-24 15:36:16 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:16 [debug] Diagnostics for board 50:
2025-04-24 15:36:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:21 ago, cause: software
2025-04-24 15:36:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:16 [debug] Moves scheduled 41990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 254547277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:36:16 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17276, writes 0 timeouts 0
2025-04-24 15:36:16 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36095/37100
2025-04-24 15:36:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:17 [info] currentZPosition:0.105
2025-04-24 15:36:18 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:18 [debug] Diagnostics for board 50:
2025-04-24 15:36:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:23 ago, cause: software
2025-04-24 15:36:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:18 [debug] Moves scheduled 41994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 253490932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:18 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17730, writes 0 timeouts 0
2025-04-24 15:36:18 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36026/37114
2025-04-24 15:36:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:18 [info] currentZPosition:0.105
2025-04-24 15:36:19 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:19 [debug] Diagnostics for board 50:
2025-04-24 15:36:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:24 ago, cause: software
2025-04-24 15:36:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:19 [debug] Moves scheduled 41998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 252464511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:36:19 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17237, writes 0 timeouts 0
2025-04-24 15:36:19 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36050/37119
2025-04-24 15:36:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:19 [info] currentZPosition:0.105
2025-04-24 15:36:21 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:21 [debug] Diagnostics for board 50:
2025-04-24 15:36:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:26 ago, cause: software
2025-04-24 15:36:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:21 [debug] Moves scheduled 42002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 251416971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 35
2025-04-24 15:36:21 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17590, writes 0 timeouts 0
2025-04-24 15:36:21 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36018/37157
2025-04-24 15:36:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:21 [info] currentZPosition:0.105
2025-04-24 15:36:22 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:22 [debug] Diagnostics for board 50:
2025-04-24 15:36:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:27 ago, cause: software
2025-04-24 15:36:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:22 [debug] Moves scheduled 42006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 250395595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 35
2025-04-24 15:36:22 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17141, writes 0 timeouts 0
2025-04-24 15:36:22 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36125/37171
2025-04-24 15:36:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9090, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:22 [info] currentZPosition:0.106
2025-04-24 15:36:23 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:23 [debug] Diagnostics for board 50:
2025-04-24 15:36:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:28 ago, cause: software
2025-04-24 15:36:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:23 [debug] Moves scheduled 42010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 249305675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:36:23 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18282, writes 0 timeouts 0
2025-04-24 15:36:23 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36083/37126
2025-04-24 15:36:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:24 [info] currentZPosition:0.104
2025-04-24 15:36:24 [debug] Stopped at height 0.103 mm
2025-04-24 15:36:25 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:25 [debug] Diagnostics for board 50:
2025-04-24 15:36:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:30 ago, cause: software
2025-04-24 15:36:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:25 [debug] Moves scheduled 42016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 248052490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:36:25 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21024, writes 0 timeouts 0
2025-04-24 15:36:25 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36112/37138
2025-04-24 15:36:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9182, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:25 [info] currentZPosition:0.104
2025-04-24 15:36:26 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:26 [debug] Diagnostics for board 50:
2025-04-24 15:36:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:31 ago, cause: software
2025-04-24 15:36:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:26 [debug] Moves scheduled 42020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 80, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 247023548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:36:26 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17272, writes 0 timeouts 0
2025-04-24 15:36:26 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36030/37155
2025-04-24 15:36:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:27 [info] currentZPosition:0.106
2025-04-24 15:36:27 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:28 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:28 [debug] Diagnostics for board 50:
2025-04-24 15:36:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:33 ago, cause: software
2025-04-24 15:36:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:28 [debug] Moves scheduled 42026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 245757956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:36:28 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21243, writes 0 timeouts 0
2025-04-24 15:36:28 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36113/37172
2025-04-24 15:36:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:28 [info] currentZPosition:0.105
2025-04-24 15:36:30 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:30 [debug] Diagnostics for board 50:
2025-04-24 15:36:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:35 ago, cause: software
2025-04-24 15:36:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:30 [debug] Moves scheduled 42030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 244700121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:30 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17768, writes 0 timeouts 0
2025-04-24 15:36:30 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36046/37161
2025-04-24 15:36:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:30 [info] currentZPosition:0.105
2025-04-24 15:36:31 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:31 [debug] Diagnostics for board 50:
2025-04-24 15:36:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:38:36 ago, cause: software
2025-04-24 15:36:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:31 [debug] Moves scheduled 42034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 227, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 243683113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:31 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17053, writes 0 timeouts 0
2025-04-24 15:36:31 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36101/37158
2025-04-24 15:36:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:31 [info] currentZPosition:0.105
2025-04-24 15:36:32 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:32 [debug] Diagnostics for board 50:
2025-04-24 15:36:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:37 ago, cause: software
2025-04-24 15:36:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:32 [debug] Moves scheduled 42038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 242620355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:36:32 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17835, writes 0 timeouts 0
2025-04-24 15:36:32 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36041/37112
2025-04-24 15:36:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9117, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:32 [info] currentZPosition:0.105
2025-04-24 15:36:34 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:34 [debug] Diagnostics for board 50:
2025-04-24 15:36:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:39 ago, cause: software
2025-04-24 15:36:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:34 [debug] Moves scheduled 42042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 241600998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:34 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17105, writes 0 timeouts 0
2025-04-24 15:36:34 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36049/37151
2025-04-24 15:36:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:34 [info] currentZPosition:0.105
2025-04-24 15:36:35 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:35 [debug] Diagnostics for board 50:
2025-04-24 15:36:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:40 ago, cause: software
2025-04-24 15:36:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:35 [debug] Moves scheduled 42046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 75, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 240547339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:36:35 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17682, writes 0 timeouts 0
2025-04-24 15:36:35 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35991/37102
2025-04-24 15:36:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:35 [info] currentZPosition:0.106
2025-04-24 15:36:37 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:37 [debug] Diagnostics for board 50:
2025-04-24 15:36:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:41 ago, cause: software
2025-04-24 15:36:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:37 [debug] Moves scheduled 42050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 72, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 239505231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:37 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17476, writes 0 timeouts 0
2025-04-24 15:36:37 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36100/37159
2025-04-24 15:36:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9145, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:37 [info] currentZPosition:0.105
2025-04-24 15:36:38 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:38 [debug] Diagnostics for board 50:
2025-04-24 15:36:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:43 ago, cause: software
2025-04-24 15:36:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:38 [debug] Moves scheduled 42054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 238455519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:36:38 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17634, writes 0 timeouts 0
2025-04-24 15:36:38 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36057/37118
2025-04-24 15:36:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:38 [info] currentZPosition:0.105
2025-04-24 15:36:39 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:39 [debug] Diagnostics for board 50:
2025-04-24 15:36:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:44 ago, cause: software
2025-04-24 15:36:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:39 [debug] Moves scheduled 42058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 237441344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:39 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17019, writes 0 timeouts 0
2025-04-24 15:36:39 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 432, adv 36176/37098
2025-04-24 15:36:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:39 [info] currentZPosition:0.106
2025-04-24 15:36:41 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:41 [debug] Diagnostics for board 50:
2025-04-24 15:36:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:38:46 ago, cause: software
2025-04-24 15:36:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:41 [debug] Moves scheduled 42062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 236374682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:36:41 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17902, writes 0 timeouts 0
2025-04-24 15:36:41 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36005/37116
2025-04-24 15:36:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:41 [info] currentZPosition:0.105
2025-04-24 15:36:42 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:42 [debug] Diagnostics for board 50:
2025-04-24 15:36:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:47 ago, cause: software
2025-04-24 15:36:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:42 [debug] Moves scheduled 42066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 235360320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:36:42 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17023, writes 0 timeouts 0
2025-04-24 15:36:42 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36319/37075
2025-04-24 15:36:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:42 [info] currentZPosition:0.106
2025-04-24 15:36:43 [debug] Stopped at height 0.104 mm
2025-04-24 15:36:43 [debug] Diagnostics for board 50:
2025-04-24 15:36:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:48 ago, cause: software
2025-04-24 15:36:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:43 [debug] Moves scheduled 42070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 234279307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:36:43 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18133, writes 0 timeouts 0
2025-04-24 15:36:43 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36037/37122
2025-04-24 15:36:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:44 [info] currentZPosition:0.104
2025-04-24 15:36:45 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:45 [debug] Diagnostics for board 50:
2025-04-24 15:36:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:50 ago, cause: software
2025-04-24 15:36:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:45 [debug] Moves scheduled 42074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 85, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 233272343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:36:45 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16914, writes 0 timeouts 0
2025-04-24 15:36:45 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36320/37105
2025-04-24 15:36:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:45 [info] currentZPosition:0.106
2025-04-24 15:36:46 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:46 [debug] Diagnostics for board 50:
2025-04-24 15:36:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:51 ago, cause: software
2025-04-24 15:36:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:46 [debug] Moves scheduled 42078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 232212015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:46 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17795, writes 0 timeouts 0
2025-04-24 15:36:46 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36104/37107
2025-04-24 15:36:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:46 [info] currentZPosition:0.106
2025-04-24 15:36:48 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:48 [debug] Diagnostics for board 50:
2025-04-24 15:36:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:38:53 ago, cause: software
2025-04-24 15:36:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:48 [debug] Moves scheduled 42082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 231174296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:36:48 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17407, writes 0 timeouts 0
2025-04-24 15:36:48 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36343/37082
2025-04-24 15:36:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:48 [info] currentZPosition:0.105
2025-04-24 15:36:49 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:49 [debug] Diagnostics for board 50:
2025-04-24 15:36:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:38:54 ago, cause: software
2025-04-24 15:36:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:49 [debug] Moves scheduled 42086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 230130890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:49 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17512, writes 0 timeouts 0
2025-04-24 15:36:49 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36022/37102
2025-04-24 15:36:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:49 [info] currentZPosition:0.106
2025-04-24 15:36:50 [debug] Stopped at height 0.105 mm
2025-04-24 15:36:50 [debug] Diagnostics for board 50:
2025-04-24 15:36:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:55 ago, cause: software
2025-04-24 15:36:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:50 [debug] Moves scheduled 42090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 229096233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:36:50 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17354, writes 0 timeouts 0
2025-04-24 15:36:50 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36346/37103
2025-04-24 15:36:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9184, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:51 [info] currentZPosition:0.105
2025-04-24 15:36:52 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:52 [debug] Diagnostics for board 50:
2025-04-24 15:36:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:38:57 ago, cause: software
2025-04-24 15:36:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:52 [debug] Moves scheduled 42094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 71, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 228049234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:36:52 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17572, writes 0 timeouts 0
2025-04-24 15:36:52 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35994/37113
2025-04-24 15:36:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:52 [info] currentZPosition:0.106
2025-04-24 15:36:53 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:53 [debug] Diagnostics for board 50:
2025-04-24 15:36:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:38:58 ago, cause: software
2025-04-24 15:36:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:53 [debug] Moves scheduled 42098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 227018101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:36:53 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17306, writes 0 timeouts 0
2025-04-24 15:36:53 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36347/37118
2025-04-24 15:36:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:53 [info] currentZPosition:0.106
2025-04-24 15:36:55 [debug] Stopped at height 0.103 mm
2025-04-24 15:36:55 [debug] Diagnostics for board 50:
2025-04-24 15:36:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:00 ago, cause: software
2025-04-24 15:36:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:55 [debug] Moves scheduled 42102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 225913086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:36:55 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18549, writes 0 timeouts 0
2025-04-24 15:36:55 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36046/37114
2025-04-24 15:36:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:55 [info] currentZPosition:0.103
2025-04-24 15:36:55 [debug] Stopped at height 0.101 mm
2025-04-24 15:36:56 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:56 [debug] Diagnostics for board 50:
2025-04-24 15:36:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:01 ago, cause: software
2025-04-24 15:36:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:56 [debug] Moves scheduled 42108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 98, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 224693610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:36:56 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20464, writes 0 timeouts 0
2025-04-24 15:36:56 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36307/37142
2025-04-24 15:36:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:56 [info] currentZPosition:0.106
2025-04-24 15:36:57 [debug] Stopped at height 0.103 mm
2025-04-24 15:36:58 [debug] Stopped at height 0.106 mm
2025-04-24 15:36:58 [debug] Diagnostics for board 50:
2025-04-24 15:36:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:36:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:39:03 ago, cause: software
2025-04-24 15:36:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:36:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:36:58 [debug] Moves scheduled 42114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 223407747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:36:58 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21573, writes 0 timeouts 0
2025-04-24 15:36:58 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36038/37125
2025-04-24 15:36:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:36:58 [info] currentZPosition:0.106
2025-04-24 15:36:58 [debug] Stopped at height 0.103 mm
2025-04-24 15:37:00 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:00 [debug] Diagnostics for board 50:
2025-04-24 15:37:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:05 ago, cause: software
2025-04-24 15:37:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:00 [debug] Moves scheduled 42120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 222142502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:37:00 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21277, writes 0 timeouts 0
2025-04-24 15:37:00 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36381/37107
2025-04-24 15:37:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4582, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:00 [info] currentZPosition:0.106
2025-04-24 15:37:00 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:01 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:01 [debug] Diagnostics for board 50:
2025-04-24 15:37:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:06 ago, cause: software
2025-04-24 15:37:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:01 [debug] Moves scheduled 42126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 220837582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:37:01 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21850, writes 0 timeouts 0
2025-04-24 15:37:01 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36065/37115
2025-04-24 15:37:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:02 [info] currentZPosition:0.105
2025-04-24 15:37:03 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:03 [debug] Diagnostics for board 50:
2025-04-24 15:37:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:08 ago, cause: software
2025-04-24 15:37:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:03 [debug] Moves scheduled 42130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 219802678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.7C, max 3
2025-04-24 15:37:03 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17379, writes 0 timeouts 0
2025-04-24 15:37:03 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36339/37143
2025-04-24 15:37:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:03 [info] currentZPosition:0.105
2025-04-24 15:37:04 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:04 [debug] Diagnostics for board 50:
2025-04-24 15:37:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:09 ago, cause: software
2025-04-24 15:37:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:04 [debug] Moves scheduled 42134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 218746629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:37:04 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17736, writes 0 timeouts 0
2025-04-24 15:37:04 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36053/37139
2025-04-24 15:37:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:04 [info] currentZPosition:0.105
2025-04-24 15:37:06 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:06 [debug] Diagnostics for board 50:
2025-04-24 15:37:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:10 ago, cause: software
2025-04-24 15:37:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:06 [debug] Moves scheduled 42138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 217730966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:37:06 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17035, writes 0 timeouts 0
2025-04-24 15:37:06 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36341/37118
2025-04-24 15:37:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:06 [info] currentZPosition:0.105
2025-04-24 15:37:07 [debug] Stopped at height 0.104 mm
2025-04-24 15:37:07 [debug] Diagnostics for board 50:
2025-04-24 15:37:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:12 ago, cause: software
2025-04-24 15:37:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:07 [debug] Moves scheduled 42142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 216652862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:37:07 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18078, writes 0 timeouts 0
2025-04-24 15:37:07 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36005/37165
2025-04-24 15:37:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:07 [info] currentZPosition:0.104
2025-04-24 15:37:07 [debug] Stopped at height 0.102 mm
2025-04-24 15:37:08 [debug] Stopped at height 0.101 mm
2025-04-24 15:37:09 [debug] Stopped at height 0.104 mm
2025-04-24 15:37:09 [debug] Diagnostics for board 50:
2025-04-24 15:37:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:14 ago, cause: software
2025-04-24 15:37:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:09 [debug] Moves scheduled 42150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 215144455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:09 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25332, writes 0 timeouts 0
2025-04-24 15:37:09 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36369/37144
2025-04-24 15:37:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:09 [info] currentZPosition:0.104
2025-04-24 15:37:09 [debug] Stopped at height 0.102 mm
2025-04-24 15:37:11 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:11 [debug] Diagnostics for board 50:
2025-04-24 15:37:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:16 ago, cause: software
2025-04-24 15:37:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:11 [debug] Moves scheduled 42156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 213892172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:11 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21015, writes 0 timeouts 0
2025-04-24 15:37:11 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36082/37119
2025-04-24 15:37:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9093, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:11 [info] currentZPosition:0.106
2025-04-24 15:37:11 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:12 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:12 [debug] Diagnostics for board 50:
2025-04-24 15:37:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:17 ago, cause: software
2025-04-24 15:37:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:12 [debug] Moves scheduled 42162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 107, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 212626320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:37:12 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21234, writes 0 timeouts 0
2025-04-24 15:37:12 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36301/37105
2025-04-24 15:37:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:12 [info] currentZPosition:0.106
2025-04-24 15:37:14 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:14 [debug] Diagnostics for board 50:
2025-04-24 15:37:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:19 ago, cause: software
2025-04-24 15:37:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:14 [debug] Moves scheduled 42166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 211569174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:37:14 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17762, writes 0 timeouts 0
2025-04-24 15:37:14 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36037/37128
2025-04-24 15:37:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:14 [info] currentZPosition:0.106
2025-04-24 15:37:15 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:15 [debug] Diagnostics for board 50:
2025-04-24 15:37:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:20 ago, cause: software
2025-04-24 15:37:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:15 [debug] Moves scheduled 42170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 210542617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:37:15 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17217, writes 0 timeouts 0
2025-04-24 15:37:15 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36386/37153
2025-04-24 15:37:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:15 [info] currentZPosition:0.106
2025-04-24 15:37:17 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:17 [debug] Diagnostics for board 50:
2025-04-24 15:37:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:39:21 ago, cause: software
2025-04-24 15:37:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:17 [debug] Moves scheduled 42174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 209466978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:37:17 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18040, writes 0 timeouts 0
2025-04-24 15:37:17 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 338, adv 36054/37171
2025-04-24 15:37:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:17 [info] currentZPosition:0.105
2025-04-24 15:37:18 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:18 [debug] Diagnostics for board 50:
2025-04-24 15:37:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:23 ago, cause: software
2025-04-24 15:37:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:18 [debug] Moves scheduled 42178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 208463169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:37:18 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16878, writes 0 timeouts 0
2025-04-24 15:37:18 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36352/37108
2025-04-24 15:37:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:18 [info] currentZPosition:0.106
2025-04-24 15:37:19 [debug] Stopped at height 0.107 mm
2025-04-24 15:37:19 [debug] Diagnostics for board 50:
2025-04-24 15:37:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:24 ago, cause: software
2025-04-24 15:37:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:19 [debug] Moves scheduled 42182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 207412824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:37:19 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17608, writes 0 timeouts 0
2025-04-24 15:37:19 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36024/37174
2025-04-24 15:37:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:19 [info] currentZPosition:0.107
2025-04-24 15:37:21 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:21 [debug] Diagnostics for board 50:
2025-04-24 15:37:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:26 ago, cause: software
2025-04-24 15:37:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:21 [debug] Moves scheduled 42186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 206366249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:37:21 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17556, writes 0 timeouts 0
2025-04-24 15:37:21 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36368/37095
2025-04-24 15:37:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:21 [info] currentZPosition:0.105
2025-04-24 15:37:22 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:22 [debug] Diagnostics for board 50:
2025-04-24 15:37:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:27 ago, cause: software
2025-04-24 15:37:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:22 [debug] Moves scheduled 42190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 205318036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:37:22 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17609, writes 0 timeouts 0
2025-04-24 15:37:22 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36024/37165
2025-04-24 15:37:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:22 [info] currentZPosition:0.106
2025-04-24 15:37:23 [debug] Stopped at height 0.107 mm
2025-04-24 15:37:23 [debug] Diagnostics for board 50:
2025-04-24 15:37:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:28 ago, cause: software
2025-04-24 15:37:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:23 [debug] Moves scheduled 42194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 204303766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:37:23 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17028, writes 0 timeouts 0
2025-04-24 15:37:23 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36309/37154
2025-04-24 15:37:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:24 [info] currentZPosition:0.107
2025-04-24 15:37:25 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:25 [debug] Diagnostics for board 50:
2025-04-24 15:37:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:30 ago, cause: software
2025-04-24 15:37:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:25 [debug] Moves scheduled 42198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15306
Sync err accum 74, peak jitter 0/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 203234356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:37:25 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17944, writes 0 timeouts 0
2025-04-24 15:37:25 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36012/37155
2025-04-24 15:37:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:25 [info] currentZPosition:0.106
2025-04-24 15:37:26 [debug] Stopped at height 0.104 mm
2025-04-24 15:37:26 [debug] Diagnostics for board 50:
2025-04-24 15:37:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:39:31 ago, cause: software
2025-04-24 15:37:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:26 [debug] Moves scheduled 42202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 202174263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:26 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17793, writes 0 timeouts 0
2025-04-24 15:37:26 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36300/37114
2025-04-24 15:37:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:26 [info] currentZPosition:0.104
2025-04-24 15:37:27 [debug] Stopped at height 0.102 mm
2025-04-24 15:37:27 [debug] Stopped at height 0.102 mm
2025-04-24 15:37:28 [debug] Stopped at height 0.107 mm
2025-04-24 15:37:28 [debug] Diagnostics for board 50:
2025-04-24 15:37:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:33 ago, cause: software
2025-04-24 15:37:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:28 [debug] Moves scheduled 42210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 97, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 200686427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:37:28 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24949, writes 0 timeouts 0
2025-04-24 15:37:28 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35985/37149
2025-04-24 15:37:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:28 [info] currentZPosition:0.107
2025-04-24 15:37:29 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:30 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:30 [debug] Diagnostics for board 50:
2025-04-24 15:37:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:35 ago, cause: software
2025-04-24 15:37:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:30 [debug] Moves scheduled 42216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15306
Sync err accum 102, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 199399327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:37:30 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21588, writes 0 timeouts 0
2025-04-24 15:37:30 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36322/37168
2025-04-24 15:37:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:30 [info] currentZPosition:0.105
2025-04-24 15:37:31 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:31 [debug] Diagnostics for board 50:
2025-04-24 15:37:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:39:36 ago, cause: software
2025-04-24 15:37:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:31 [debug] Moves scheduled 42220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 198356925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:37:31 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17505, writes 0 timeouts 0
2025-04-24 15:37:31 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36054/37122
2025-04-24 15:37:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:31 [info] currentZPosition:0.106
2025-04-24 15:37:33 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:33 [debug] Diagnostics for board 50:
2025-04-24 15:37:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:38 ago, cause: software
2025-04-24 15:37:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:33 [debug] Moves scheduled 42224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 101, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 197325794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:37:33 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17303, writes 0 timeouts 0
2025-04-24 15:37:33 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36309/37127
2025-04-24 15:37:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:33 [info] currentZPosition:0.106
2025-04-24 15:37:34 [debug] Stopped at height 0.107 mm
2025-04-24 15:37:34 [debug] Diagnostics for board 50:
2025-04-24 15:37:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:39 ago, cause: software
2025-04-24 15:37:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:34 [debug] Moves scheduled 42228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 196283157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:37:34 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17498, writes 0 timeouts 0
2025-04-24 15:37:34 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36010/37163
2025-04-24 15:37:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9108, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:34 [info] currentZPosition:0.107
2025-04-24 15:37:36 [debug] Stopped at height 0.104 mm
2025-04-24 15:37:36 [debug] Diagnostics for board 50:
2025-04-24 15:37:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:40 ago, cause: software
2025-04-24 15:37:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:36 [debug] Moves scheduled 42232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 195216461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:37:36 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17886, writes 0 timeouts 0
2025-04-24 15:37:36 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36225/37122
2025-04-24 15:37:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9246, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:36 [info] currentZPosition:0.104
2025-04-24 15:37:36 [debug] Stopped at height 0.102 mm
2025-04-24 15:37:36 [debug] Stopped at height 0.101 mm
2025-04-24 15:37:38 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:38 [debug] Diagnostics for board 50:
2025-04-24 15:37:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:43 ago, cause: software
2025-04-24 15:37:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:38 [debug] Moves scheduled 42240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 193692780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:37:38 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25573, writes 0 timeouts 0
2025-04-24 15:37:38 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36070/37154
2025-04-24 15:37:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:38 [info] currentZPosition:0.105
2025-04-24 15:37:38 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:39 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:39 [debug] Diagnostics for board 50:
2025-04-24 15:37:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:44 ago, cause: software
2025-04-24 15:37:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:39 [debug] Moves scheduled 42246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 59, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 192452985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:37:39 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20815, writes 0 timeouts 0
2025-04-24 15:37:39 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36106/37168
2025-04-24 15:37:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:39 [info] currentZPosition:0.106
2025-04-24 15:37:41 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:41 [debug] Diagnostics for board 50:
2025-04-24 15:37:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:46 ago, cause: software
2025-04-24 15:37:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:41 [debug] Moves scheduled 42250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter 0/4, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 191404368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:41 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17595, writes 0 timeouts 0
2025-04-24 15:37:41 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36006/37119
2025-04-24 15:37:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:41 [info] currentZPosition:0.106
2025-04-24 15:37:42 [debug] Stopped at height 0.107 mm
2025-04-24 15:37:42 [debug] Diagnostics for board 50:
2025-04-24 15:37:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:47 ago, cause: software
2025-04-24 15:37:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:42 [debug] Moves scheduled 42254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 190387445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:42 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17073, writes 0 timeouts 0
2025-04-24 15:37:42 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36108/37141
2025-04-24 15:37:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:42 [info] currentZPosition:0.107
2025-04-24 15:37:43 [debug] Stopped at height 0.107 mm
2025-04-24 15:37:43 [debug] Diagnostics for board 50:
2025-04-24 15:37:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:48 ago, cause: software
2025-04-24 15:37:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:43 [debug] Moves scheduled 42258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 189325377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:43 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17818, writes 0 timeouts 0
2025-04-24 15:37:43 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36053/37131
2025-04-24 15:37:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:44 [info] currentZPosition:0.107
2025-04-24 15:37:45 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:45 [debug] Diagnostics for board 50:
2025-04-24 15:37:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:50 ago, cause: software
2025-04-24 15:37:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:45 [debug] Moves scheduled 42262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 188294998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:45 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17288, writes 0 timeouts 0
2025-04-24 15:37:45 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36086/37160
2025-04-24 15:37:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:45 [info] currentZPosition:0.106
2025-04-24 15:37:46 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:46 [debug] Diagnostics for board 50:
2025-04-24 15:37:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:51 ago, cause: software
2025-04-24 15:37:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:46 [debug] Moves scheduled 42266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 187225987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:37:46 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17932, writes 0 timeouts 0
2025-04-24 15:37:46 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36061/37129
2025-04-24 15:37:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:46 [info] currentZPosition:0.106
2025-04-24 15:37:48 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:48 [debug] Diagnostics for board 50:
2025-04-24 15:37:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:52 ago, cause: software
2025-04-24 15:37:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:48 [debug] Moves scheduled 42270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 186207849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:37:48 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17093, writes 0 timeouts 0
2025-04-24 15:37:48 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36103/37095
2025-04-24 15:37:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9169, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:48 [info] currentZPosition:0.106
2025-04-24 15:37:49 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:49 [debug] Diagnostics for board 50:
2025-04-24 15:37:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:39:54 ago, cause: software
2025-04-24 15:37:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:49 [debug] Moves scheduled 42274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 185155714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:37:49 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17658, writes 0 timeouts 0
2025-04-24 15:37:49 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36026/37132
2025-04-24 15:37:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:49 [info] currentZPosition:0.106
2025-04-24 15:37:50 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:50 [debug] Diagnostics for board 50:
2025-04-24 15:37:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:39:55 ago, cause: software
2025-04-24 15:37:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:50 [debug] Moves scheduled 42278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 184124267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:37:50 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17310, writes 0 timeouts 0
2025-04-24 15:37:50 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36099/37163
2025-04-24 15:37:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:50 [info] currentZPosition:0.106
2025-04-24 15:37:52 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:52 [debug] Diagnostics for board 50:
2025-04-24 15:37:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:39:57 ago, cause: software
2025-04-24 15:37:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:52 [debug] Moves scheduled 42282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 183068989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:37:52 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17727, writes 0 timeouts 0
2025-04-24 15:37:52 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36033/37153
2025-04-24 15:37:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:52 [info] currentZPosition:0.106
2025-04-24 15:37:53 [debug] Stopped at height 0.104 mm
2025-04-24 15:37:53 [debug] Diagnostics for board 50:
2025-04-24 15:37:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:39:58 ago, cause: software
2025-04-24 15:37:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:53 [debug] Moves scheduled 42286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=581, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 182008324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:37:53 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17759, writes 11 timeouts 1
2025-04-24 15:37:53 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36054/37173
2025-04-24 15:37:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:53 [info] currentZPosition:0.104
2025-04-24 15:37:54 [debug] Stopped at height 0.103 mm
2025-04-24 15:37:55 [debug] Stopped at height 0.107 mm
2025-04-24 15:37:55 [debug] Diagnostics for board 50:
2025-04-24 15:37:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:00 ago, cause: software
2025-04-24 15:37:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:55 [debug] Moves scheduled 42292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -3/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 180767014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:37:55 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20829, writes 0 timeouts 0
2025-04-24 15:37:55 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36017/37126
2025-04-24 15:37:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:55 [info] currentZPosition:0.107
2025-04-24 15:37:55 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:57 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:57 [debug] Diagnostics for board 50:
2025-04-24 15:37:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:01 ago, cause: software
2025-04-24 15:37:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:57 [debug] Moves scheduled 42298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 179495306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:37:57 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21336, writes 0 timeouts 0
2025-04-24 15:37:57 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36061/37144
2025-04-24 15:37:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:57 [info] currentZPosition:0.106
2025-04-24 15:37:57 [debug] Stopped at height 0.105 mm
2025-04-24 15:37:58 [debug] Stopped at height 0.106 mm
2025-04-24 15:37:58 [debug] Diagnostics for board 50:
2025-04-24 15:37:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:37:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:03 ago, cause: software
2025-04-24 15:37:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:37:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:37:58 [debug] Moves scheduled 42304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 178202789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:37:58 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21672, writes 0 timeouts 0
2025-04-24 15:37:58 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36060/37156
2025-04-24 15:37:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:37:58 [info] currentZPosition:0.106
2025-04-24 15:38:00 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:00 [debug] Diagnostics for board 50:
2025-04-24 15:38:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:05 ago, cause: software
2025-04-24 15:38:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:00 [debug] Moves scheduled 42308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 177178397 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:38:00 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17209, writes 0 timeouts 0
2025-04-24 15:38:00 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36141/37131
2025-04-24 15:38:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:00 [info] currentZPosition:0.106
2025-04-24 15:38:01 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:01 [debug] Diagnostics for board 50:
2025-04-24 15:38:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:06 ago, cause: software
2025-04-24 15:38:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:01 [debug] Moves scheduled 42312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 176102567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:38:01 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18043, writes 0 timeouts 0
2025-04-24 15:38:01 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36018/37127
2025-04-24 15:38:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:01 [info] currentZPosition:0.105
2025-04-24 15:38:02 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:02 [debug] Diagnostics for board 50:
2025-04-24 15:38:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:40:07 ago, cause: software
2025-04-24 15:38:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:02 [debug] Moves scheduled 42316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 175121185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:38:02 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16467, writes 0 timeouts 0
2025-04-24 15:38:02 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36131/37115
2025-04-24 15:38:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:02 [info] currentZPosition:0.107
2025-04-24 15:38:03 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:04 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:04 [debug] Diagnostics for board 50:
2025-04-24 15:38:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:09 ago, cause: software
2025-04-24 15:38:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:04 [debug] Moves scheduled 42322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 173816528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:38:04 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21912, writes 0 timeouts 0
2025-04-24 15:38:04 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36034/37151
2025-04-24 15:38:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:04 [info] currentZPosition:0.106
2025-04-24 15:38:06 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:06 [debug] Diagnostics for board 50:
2025-04-24 15:38:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:10 ago, cause: software
2025-04-24 15:38:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:06 [debug] Moves scheduled 42326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 172766183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:38:06 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17602, writes 0 timeouts 0
2025-04-24 15:38:06 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36060/37158
2025-04-24 15:38:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:06 [info] currentZPosition:0.105
2025-04-24 15:38:06 [debug] Stopped at height 0.102 mm
2025-04-24 15:38:06 [debug] Stopped at height 0.102 mm
2025-04-24 15:38:08 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:08 [debug] Diagnostics for board 50:
2025-04-24 15:38:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:12 ago, cause: software
2025-04-24 15:38:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:08 [debug] Moves scheduled 42334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 171221680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:08 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25947, writes 0 timeouts 0
2025-04-24 15:38:08 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36030/37170
2025-04-24 15:38:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:08 [info] currentZPosition:0.105
2025-04-24 15:38:08 [debug] Stopped at height 0.102 mm
2025-04-24 15:38:09 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:09 [debug] Diagnostics for board 50:
2025-04-24 15:38:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:14 ago, cause: software
2025-04-24 15:38:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:09 [debug] Moves scheduled 42340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 169964246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:38:09 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21096, writes 0 timeouts 0
2025-04-24 15:38:09 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36088/37149
2025-04-24 15:38:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:09 [info] currentZPosition:0.105
2025-04-24 15:38:10 [debug] Stopped at height 0.104 mm
2025-04-24 15:38:11 [debug] Stopped at height 0.104 mm
2025-04-24 15:38:11 [debug] Diagnostics for board 50:
2025-04-24 15:38:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:16 ago, cause: software
2025-04-24 15:38:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:11 [debug] Moves scheduled 42346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 168659389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:38:11 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21870, writes 0 timeouts 0
2025-04-24 15:38:11 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36054/37141
2025-04-24 15:38:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:11 [info] currentZPosition:0.104
2025-04-24 15:38:12 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:12 [debug] Diagnostics for board 50:
2025-04-24 15:38:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:40:17 ago, cause: software
2025-04-24 15:38:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:12 [debug] Moves scheduled 42350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 167646991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:38:12 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16984, writes 0 timeouts 0
2025-04-24 15:38:12 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36078/37087
2025-04-24 15:38:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:12 [info] currentZPosition:0.105
2025-04-24 15:38:14 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:14 [debug] Diagnostics for board 50:
2025-04-24 15:38:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:19 ago, cause: software
2025-04-24 15:38:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:14 [debug] Moves scheduled 42354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 166622888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:14 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17217, writes 0 timeouts 0
2025-04-24 15:38:14 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36045/37111
2025-04-24 15:38:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:14 [info] currentZPosition:0.106
2025-04-24 15:38:14 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:15 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:15 [debug] Diagnostics for board 50:
2025-04-24 15:38:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:20 ago, cause: software
2025-04-24 15:38:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:15 [debug] Moves scheduled 42360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 165360583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:38:15 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21144, writes 0 timeouts 0
2025-04-24 15:38:15 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36085/37124
2025-04-24 15:38:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:15 [info] currentZPosition:0.106
2025-04-24 15:38:16 [debug] Stopped at height 0.104 mm
2025-04-24 15:38:17 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:17 [debug] Diagnostics for board 50:
2025-04-24 15:38:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:40:22 ago, cause: software
2025-04-24 15:38:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:17 [debug] Moves scheduled 42366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 164092293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:38:17 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21281, writes 0 timeouts 0
2025-04-24 15:38:17 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 35992/37096
2025-04-24 15:38:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:17 [info] currentZPosition:0.107
2025-04-24 15:38:18 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:19 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:19 [debug] Diagnostics for board 50:
2025-04-24 15:38:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:40:24 ago, cause: software
2025-04-24 15:38:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:19 [debug] Moves scheduled 42372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 162799617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:19 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21681, writes 0 timeouts 0
2025-04-24 15:38:19 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36083/37138
2025-04-24 15:38:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9226, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:19 [info] currentZPosition:0.106
2025-04-24 15:38:20 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:20 [debug] Diagnostics for board 50:
2025-04-24 15:38:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:25 ago, cause: software
2025-04-24 15:38:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:20 [debug] Moves scheduled 42376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 64, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 161762354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:38:20 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17397, writes 0 timeouts 0
2025-04-24 15:38:20 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36005/37168
2025-04-24 15:38:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:20 [info] currentZPosition:0.106
2025-04-24 15:38:22 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:22 [debug] Diagnostics for board 50:
2025-04-24 15:38:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:26 ago, cause: software
2025-04-24 15:38:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:22 [debug] Moves scheduled 42380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 160760061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:38:22 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16824, writes 0 timeouts 0
2025-04-24 15:38:22 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36084/37126
2025-04-24 15:38:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:22 [info] currentZPosition:0.108
2025-04-24 15:38:23 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:23 [debug] Diagnostics for board 50:
2025-04-24 15:38:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:28 ago, cause: software
2025-04-24 15:38:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:23 [debug] Moves scheduled 42384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 159689904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:38:23 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17968, writes 0 timeouts 0
2025-04-24 15:38:23 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36001/37078
2025-04-24 15:38:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:23 [info] currentZPosition:0.107
2025-04-24 15:38:24 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:24 [debug] Diagnostics for board 50:
2025-04-24 15:38:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:29 ago, cause: software
2025-04-24 15:38:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:24 [debug] Moves scheduled 42388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=44, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter 1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 158650964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:38:24 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17420, writes 0 timeouts 0
2025-04-24 15:38:24 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36158/37089
2025-04-24 15:38:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9202, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:24 [info] currentZPosition:0.106
2025-04-24 15:38:26 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:26 [debug] Diagnostics for board 50:
2025-04-24 15:38:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:31 ago, cause: software
2025-04-24 15:38:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:26 [debug] Moves scheduled 42392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 157613398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:26 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17407, writes 0 timeouts 0
2025-04-24 15:38:26 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36048/37136
2025-04-24 15:38:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:26 [info] currentZPosition:0.107
2025-04-24 15:38:27 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:27 [debug] Diagnostics for board 50:
2025-04-24 15:38:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:40:32 ago, cause: software
2025-04-24 15:38:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:27 [debug] Moves scheduled 42396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 156607880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:38:27 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16875, writes 0 timeouts 0
2025-04-24 15:38:27 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36095/37126
2025-04-24 15:38:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:27 [info] currentZPosition:0.108
2025-04-24 15:38:29 [debug] Stopped at height 0.104 mm
2025-04-24 15:38:29 [debug] Diagnostics for board 50:
2025-04-24 15:38:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:40:33 ago, cause: software
2025-04-24 15:38:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:29 [debug] Moves scheduled 42400, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 155491671 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:29 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18731, writes 0 timeouts 0
2025-04-24 15:38:29 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36108/37100
2025-04-24 15:38:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:29 [info] currentZPosition:0.104
2025-04-24 15:38:29 [debug] Stopped at height 0.103 mm
2025-04-24 15:38:30 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:30 [debug] Diagnostics for board 50:
2025-04-24 15:38:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:40:35 ago, cause: software
2025-04-24 15:38:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:30 [debug] Moves scheduled 42406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 154275849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:38:30 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20422, writes 0 timeouts 0
2025-04-24 15:38:30 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36091/37122
2025-04-24 15:38:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:30 [info] currentZPosition:0.107
2025-04-24 15:38:31 [debug] Stopped at height 0.104 mm
2025-04-24 15:38:32 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:32 [debug] Diagnostics for board 50:
2025-04-24 15:38:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:37 ago, cause: software
2025-04-24 15:38:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:32 [debug] Moves scheduled 42412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 152979986 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:38:32 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21746, writes 0 timeouts 0
2025-04-24 15:38:32 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36051/37149
2025-04-24 15:38:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:32 [info] currentZPosition:0.107
2025-04-24 15:38:32 [debug] Stopped at height 0.104 mm
2025-04-24 15:38:34 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:34 [debug] Diagnostics for board 50:
2025-04-24 15:38:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:38 ago, cause: software
2025-04-24 15:38:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:34 [debug] Moves scheduled 42418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 151705275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:38:34 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21370, writes 0 timeouts 0
2025-04-24 15:38:34 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 440, adv 36223/37124
2025-04-24 15:38:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9217, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:34 [info] currentZPosition:0.106
2025-04-24 15:38:34 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:35 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:35 [debug] Diagnostics for board 50:
2025-04-24 15:38:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:40 ago, cause: software
2025-04-24 15:38:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:35 [debug] Moves scheduled 42424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 150436800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:38:35 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21310, writes 0 timeouts 0
2025-04-24 15:38:35 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36033/37096
2025-04-24 15:38:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:35 [info] currentZPosition:0.108
2025-04-24 15:38:36 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:37 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:37 [debug] Diagnostics for board 50:
2025-04-24 15:38:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:42 ago, cause: software
2025-04-24 15:38:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:37 [debug] Moves scheduled 42430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 149134038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:38:37 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21840, writes 0 timeouts 0
2025-04-24 15:38:37 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36312/37107
2025-04-24 15:38:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:37 [info] currentZPosition:0.105
2025-04-24 15:38:38 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:38 [debug] Diagnostics for board 50:
2025-04-24 15:38:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:40:43 ago, cause: software
2025-04-24 15:38:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:38 [debug] Moves scheduled 42434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 148083074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:38:38 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17645, writes 0 timeouts 0
2025-04-24 15:38:38 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36020/37132
2025-04-24 15:38:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:39 [info] currentZPosition:0.105
2025-04-24 15:38:40 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:40 [debug] Diagnostics for board 50:
2025-04-24 15:38:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:45 ago, cause: software
2025-04-24 15:38:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:40 [debug] Moves scheduled 42438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 147093460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:38:40 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16604, writes 0 timeouts 0
2025-04-24 15:38:40 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36393/37110
2025-04-24 15:38:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:40 [info] currentZPosition:0.107
2025-04-24 15:38:40 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:41 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:41 [debug] Diagnostics for board 50:
2025-04-24 15:38:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:46 ago, cause: software
2025-04-24 15:38:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:41 [debug] Moves scheduled 42444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 145797549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:41 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21757, writes 0 timeouts 0
2025-04-24 15:38:41 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36025/37108
2025-04-24 15:38:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:42 [info] currentZPosition:0.107
2025-04-24 15:38:43 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:43 [debug] Diagnostics for board 50:
2025-04-24 15:38:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:40:48 ago, cause: software
2025-04-24 15:38:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:43 [debug] Moves scheduled 42448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 144778316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:38:43 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17095, writes 0 timeouts 0
2025-04-24 15:38:43 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36332/37080
2025-04-24 15:38:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:43 [info] currentZPosition:0.108
2025-04-24 15:38:44 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:44 [debug] Diagnostics for board 50:
2025-04-24 15:38:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:49 ago, cause: software
2025-04-24 15:38:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:44 [debug] Moves scheduled 42452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 143725086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:44 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17680, writes 0 timeouts 0
2025-04-24 15:38:44 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36051/37108
2025-04-24 15:38:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:44 [info] currentZPosition:0.108
2025-04-24 15:38:46 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:46 [debug] Diagnostics for board 50:
2025-04-24 15:38:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:51 ago, cause: software
2025-04-24 15:38:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:46 [debug] Moves scheduled 42456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 142648374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:38:46 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18083, writes 0 timeouts 0
2025-04-24 15:38:46 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36358/37107
2025-04-24 15:38:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:46 [info] currentZPosition:0.105
2025-04-24 15:38:46 [debug] Stopped at height 0.103 mm
2025-04-24 15:38:47 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:47 [debug] Diagnostics for board 50:
2025-04-24 15:38:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:40:52 ago, cause: software
2025-04-24 15:38:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:47 [debug] Moves scheduled 42462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 141372492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:38:47 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21418, writes 0 timeouts 0
2025-04-24 15:38:47 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36031/37124
2025-04-24 15:38:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9210, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:47 [info] currentZPosition:0.107
2025-04-24 15:38:48 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:49 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:49 [debug] Diagnostics for board 50:
2025-04-24 15:38:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:54 ago, cause: software
2025-04-24 15:38:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:49 [debug] Moves scheduled 42468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 140127178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:38:49 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20896, writes 0 timeouts 0
2025-04-24 15:38:49 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36347/37158
2025-04-24 15:38:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:49 [info] currentZPosition:0.107
2025-04-24 15:38:49 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:51 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:51 [debug] Diagnostics for board 50:
2025-04-24 15:38:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:56 ago, cause: software
2025-04-24 15:38:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:51 [debug] Moves scheduled 42474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 138852648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:51 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21365, writes 0 timeouts 0
2025-04-24 15:38:51 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35993/37155
2025-04-24 15:38:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:51 [info] currentZPosition:0.108
2025-04-24 15:38:52 [debug] Stopped at height 0.106 mm
2025-04-24 15:38:52 [debug] Diagnostics for board 50:
2025-04-24 15:38:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:40:57 ago, cause: software
2025-04-24 15:38:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:52 [debug] Moves scheduled 42478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 137798020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:38:52 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17708, writes 0 timeouts 0
2025-04-24 15:38:52 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36335/37078
2025-04-24 15:38:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:52 [info] currentZPosition:0.106
2025-04-24 15:38:53 [debug] Stopped at height 0.105 mm
2025-04-24 15:38:54 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:54 [debug] Diagnostics for board 50:
2025-04-24 15:38:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:40:59 ago, cause: software
2025-04-24 15:38:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:54 [debug] Moves scheduled 42484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 136509276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:54 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21607, writes 0 timeouts 0
2025-04-24 15:38:54 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36036/37107
2025-04-24 15:38:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9189, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:54 [info] currentZPosition:0.107
2025-04-24 15:38:54 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:55 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:55 [debug] Diagnostics for board 50:
2025-04-24 15:38:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:41:00 ago, cause: software
2025-04-24 15:38:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:55 [debug] Moves scheduled 42490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 135267012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:38:55 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20863, writes 0 timeouts 0
2025-04-24 15:38:55 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36329/37133
2025-04-24 15:38:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:56 [info] currentZPosition:0.108
2025-04-24 15:38:57 [debug] Stopped at height 0.107 mm
2025-04-24 15:38:57 [debug] Diagnostics for board 50:
2025-04-24 15:38:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:02 ago, cause: software
2025-04-24 15:38:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:57 [debug] Moves scheduled 42494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 134200299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:38:57 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17913, writes 0 timeouts 0
2025-04-24 15:38:57 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36030/37091
2025-04-24 15:38:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:57 [info] currentZPosition:0.107
2025-04-24 15:38:58 [debug] Stopped at height 0.108 mm
2025-04-24 15:38:58 [debug] Diagnostics for board 50:
2025-04-24 15:38:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:38:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:03 ago, cause: software
2025-04-24 15:38:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:38:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:38:58 [debug] Moves scheduled 42498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 75, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 133181034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:38:58 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17090, writes 0 timeouts 0
2025-04-24 15:38:58 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36341/37123
2025-04-24 15:38:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:38:58 [info] currentZPosition:0.108
2025-04-24 15:39:00 [debug] Stopped at height 0.107 mm
2025-04-24 15:39:00 [debug] Diagnostics for board 50:
2025-04-24 15:39:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:05 ago, cause: software
2025-04-24 15:39:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:00 [debug] Moves scheduled 42502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 132101718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:39:00 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18112, writes 0 timeouts 0
2025-04-24 15:39:00 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36040/37117
2025-04-24 15:39:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:00 [info] currentZPosition:0.107
2025-04-24 15:39:01 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:01 [debug] Diagnostics for board 50:
2025-04-24 15:39:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:41:06 ago, cause: software
2025-04-24 15:39:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:01 [debug] Moves scheduled 42506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 131071806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:39:01 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17302, writes 0 timeouts 0
2025-04-24 15:39:01 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36339/37155
2025-04-24 15:39:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:01 [info] currentZPosition:0.106
2025-04-24 15:39:02 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:02 [debug] Diagnostics for board 50:
2025-04-24 15:39:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:41:07 ago, cause: software
2025-04-24 15:39:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:02 [debug] Moves scheduled 42510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 76, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 130047670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:39:02 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17158, writes 0 timeouts 0
2025-04-24 15:39:02 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36014/37119
2025-04-24 15:39:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:03 [info] currentZPosition:0.108
2025-04-24 15:39:03 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:04 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:04 [debug] Diagnostics for board 50:
2025-04-24 15:39:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:09 ago, cause: software
2025-04-24 15:39:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:04 [debug] Moves scheduled 42516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 128783391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:39:04 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21223, writes 0 timeouts 0
2025-04-24 15:39:04 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36327/37118
2025-04-24 15:39:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:04 [info] currentZPosition:0.108
2025-04-24 15:39:05 [debug] Stopped at height 0.105 mm
2025-04-24 15:39:06 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:06 [debug] Diagnostics for board 50:
2025-04-24 15:39:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:11 ago, cause: software
2025-04-24 15:39:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:06 [debug] Moves scheduled 42522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 127485890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:39:06 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21806, writes 0 timeouts 0
2025-04-24 15:39:06 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36032/37139
2025-04-24 15:39:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:06 [info] currentZPosition:0.108
2025-04-24 15:39:06 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:08 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:08 [debug] Diagnostics for board 50:
2025-04-24 15:39:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:12 ago, cause: software
2025-04-24 15:39:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:08 [debug] Moves scheduled 42528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 126234385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:39:08 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20971, writes 0 timeouts 0
2025-04-24 15:39:08 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36338/37155
2025-04-24 15:39:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:08 [info] currentZPosition:0.108
2025-04-24 15:39:08 [debug] Stopped at height 0.107 mm
2025-04-24 15:39:09 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:09 [debug] Diagnostics for board 50:
2025-04-24 15:39:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:14 ago, cause: software
2025-04-24 15:39:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:09 [debug] Moves scheduled 42534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 124898075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:39:09 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22416, writes 0 timeouts 0
2025-04-24 15:39:09 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36038/37121
2025-04-24 15:39:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:09 [info] currentZPosition:0.106
2025-04-24 15:39:10 [debug] Stopped at height 0.104 mm
2025-04-24 15:39:10 [debug] Stopped at height 0.104 mm
2025-04-24 15:39:11 [debug] Stopped at height 0.107 mm
2025-04-24 15:39:11 [debug] Diagnostics for board 50:
2025-04-24 15:39:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:16 ago, cause: software
2025-04-24 15:39:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:11 [debug] Moves scheduled 42542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 123410392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:39:11 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24966, writes 0 timeouts 0
2025-04-24 15:39:11 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36360/37110
2025-04-24 15:39:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9212, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:11 [info] currentZPosition:0.107
2025-04-24 15:39:12 [debug] Stopped at height 0.105 mm
2025-04-24 15:39:13 [debug] Stopped at height 0.107 mm
2025-04-24 15:39:13 [debug] Diagnostics for board 50:
2025-04-24 15:39:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:18 ago, cause: software
2025-04-24 15:39:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:13 [debug] Moves scheduled 42548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 122127120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:39:13 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21528, writes 0 timeouts 0
2025-04-24 15:39:13 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36048/37171
2025-04-24 15:39:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9219, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:13 [info] currentZPosition:0.107
2025-04-24 15:39:14 [debug] Stopped at height 0.105 mm
2025-04-24 15:39:15 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:15 [debug] Diagnostics for board 50:
2025-04-24 15:39:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:20 ago, cause: software
2025-04-24 15:39:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:15 [debug] Moves scheduled 42554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=10000, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 120856326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:39:15 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21318, writes 0 timeouts 0
2025-04-24 15:39:15 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36365/37171
2025-04-24 15:39:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:15 [info] currentZPosition:0.109
2025-04-24 15:39:15 [debug] Stopped at height 0.105 mm
2025-04-24 15:39:16 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:16 [debug] Diagnostics for board 50:
2025-04-24 15:39:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:41:21 ago, cause: software
2025-04-24 15:39:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:16 [debug] Moves scheduled 42560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 119556757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:39:16 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21821, writes 0 timeouts 0
2025-04-24 15:39:16 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36026/37130
2025-04-24 15:39:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9096, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:17 [info] currentZPosition:0.108
2025-04-24 15:39:17 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:17 [debug] Stopped at height 0.105 mm
2025-04-24 15:39:18 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:18 [debug] Diagnostics for board 50:
2025-04-24 15:39:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:23 ago, cause: software
2025-04-24 15:39:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:18 [debug] Moves scheduled 42568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 118060933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:39:18 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25099, writes 0 timeouts 0
2025-04-24 15:39:18 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36345/37151
2025-04-24 15:39:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:19 [info] currentZPosition:0.109
2025-04-24 15:39:19 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:20 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:20 [debug] Diagnostics for board 50:
2025-04-24 15:39:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:41:25 ago, cause: software
2025-04-24 15:39:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:20 [debug] Moves scheduled 42574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 76, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 116753716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:39:20 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21914, writes 0 timeouts 0
2025-04-24 15:39:20 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36024/37135
2025-04-24 15:39:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:20 [info] currentZPosition:0.108
2025-04-24 15:39:21 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:22 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:22 [debug] Diagnostics for board 50:
2025-04-24 15:39:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:27 ago, cause: software
2025-04-24 15:39:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:22 [debug] Moves scheduled 42580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 115500670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:39:22 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21046, writes 0 timeouts 0
2025-04-24 15:39:22 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36354/37146
2025-04-24 15:39:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:22 [info] currentZPosition:0.109
2025-04-24 15:39:23 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:23 [debug] Diagnostics for board 50:
2025-04-24 15:39:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:41:28 ago, cause: software
2025-04-24 15:39:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:23 [debug] Moves scheduled 42584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 114433111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:39:23 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17959, writes 0 timeouts 0
2025-04-24 15:39:23 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36030/37120
2025-04-24 15:39:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:23 [info] currentZPosition:0.108
2025-04-24 15:39:25 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:25 [debug] Diagnostics for board 50:
2025-04-24 15:39:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:30 ago, cause: software
2025-04-24 15:39:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:25 [debug] Moves scheduled 42588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 113407772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:39:25 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17151, writes 0 timeouts 0
2025-04-24 15:39:25 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36315/37121
2025-04-24 15:39:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:25 [info] currentZPosition:0.108
2025-04-24 15:39:26 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:26 [debug] Diagnostics for board 50:
2025-04-24 15:39:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:31 ago, cause: software
2025-04-24 15:39:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:26 [debug] Moves scheduled 42592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 112350437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:39:26 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17750, writes 0 timeouts 0
2025-04-24 15:39:26 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36032/37150
2025-04-24 15:39:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9174, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:26 [info] currentZPosition:0.108
2025-04-24 15:39:27 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:27 [debug] Diagnostics for board 50:
2025-04-24 15:39:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:32 ago, cause: software
2025-04-24 15:39:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:27 [debug] Moves scheduled 42596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 111340332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:39:27 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16980, writes 0 timeouts 0
2025-04-24 15:39:27 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36301/37100
2025-04-24 15:39:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:28 [info] currentZPosition:0.109
2025-04-24 15:39:29 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:29 [debug] Diagnostics for board 50:
2025-04-24 15:39:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:34 ago, cause: software
2025-04-24 15:39:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:29 [debug] Moves scheduled 42600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 110275172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:39:29 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17857, writes 0 timeouts 0
2025-04-24 15:39:29 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36086/37120
2025-04-24 15:39:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:29 [info] currentZPosition:0.109
2025-04-24 15:39:30 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:30 [debug] Diagnostics for board 50:
2025-04-24 15:39:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:35 ago, cause: software
2025-04-24 15:39:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:30 [debug] Moves scheduled 42604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 109234504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:39:30 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17464, writes 0 timeouts 0
2025-04-24 15:39:30 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36350/37123
2025-04-24 15:39:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9223, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:30 [info] currentZPosition:0.108
2025-04-24 15:39:32 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:32 [debug] Diagnostics for board 50:
2025-04-24 15:39:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:37 ago, cause: software
2025-04-24 15:39:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:32 [debug] Moves scheduled 42608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10714, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 108192789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:39:32 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17509, writes 0 timeouts 0
2025-04-24 15:39:32 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36006/37120
2025-04-24 15:39:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:32 [info] currentZPosition:0.109
2025-04-24 15:39:33 [debug] Stopped at height 0.110 mm
2025-04-24 15:39:33 [debug] Diagnostics for board 50:
2025-04-24 15:39:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:38 ago, cause: software
2025-04-24 15:39:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:33 [debug] Moves scheduled 42612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 107183533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:39:33 [debug] Driver 0: pos -3514, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16906, writes 0 timeouts 0
2025-04-24 15:39:33 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36232/37159
2025-04-24 15:39:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:33 [info] currentZPosition:0.110
2025-04-24 15:39:34 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:34 [debug] Diagnostics for board 50:
2025-04-24 15:39:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:39 ago, cause: software
2025-04-24 15:39:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:34 [debug] Moves scheduled 42616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 106107632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:39:34 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18063, writes 0 timeouts 0
2025-04-24 15:39:34 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36018/37168
2025-04-24 15:39:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:34 [info] currentZPosition:0.109
2025-04-24 15:39:36 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:36 [debug] Diagnostics for board 50:
2025-04-24 15:39:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:41 ago, cause: software
2025-04-24 15:39:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:36 [debug] Moves scheduled 42620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 105074483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:39:36 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17346, writes 0 timeouts 0
2025-04-24 15:39:36 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36057/37132
2025-04-24 15:39:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:36 [info] currentZPosition:0.108
2025-04-24 15:39:37 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:37 [debug] Diagnostics for board 50:
2025-04-24 15:39:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:42 ago, cause: software
2025-04-24 15:39:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:37 [debug] Moves scheduled 42624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 104018146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:39:37 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17731, writes 0 timeouts 0
2025-04-24 15:39:37 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35995/37095
2025-04-24 15:39:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:37 [info] currentZPosition:0.108
2025-04-24 15:39:39 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:39 [debug] Diagnostics for board 50:
2025-04-24 15:39:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:43 ago, cause: software
2025-04-24 15:39:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:39 [debug] Moves scheduled 42628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 102998202 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:39:39 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17104, writes 0 timeouts 0
2025-04-24 15:39:39 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36105/37109
2025-04-24 15:39:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:39 [info] currentZPosition:0.108
2025-04-24 15:39:40 [debug] Stopped at height 0.107 mm
2025-04-24 15:39:40 [debug] Diagnostics for board 50:
2025-04-24 15:39:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:45 ago, cause: software
2025-04-24 15:39:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:40 [debug] Moves scheduled 42632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 101927665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:39:40 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17984, writes 0 timeouts 0
2025-04-24 15:39:40 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36042/37119
2025-04-24 15:39:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9228, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:40 [info] currentZPosition:0.107
2025-04-24 15:39:41 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:41 [debug] Diagnostics for board 50:
2025-04-24 15:39:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:46 ago, cause: software
2025-04-24 15:39:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:41 [debug] Moves scheduled 42636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 100939095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:39:41 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16585, writes 0 timeouts 0
2025-04-24 15:39:41 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36081/37104
2025-04-24 15:39:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:41 [info] currentZPosition:0.109
2025-04-24 15:39:42 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:43 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:43 [debug] Diagnostics for board 50:
2025-04-24 15:39:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:48 ago, cause: software
2025-04-24 15:39:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:43 [debug] Moves scheduled 42642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 99649543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:39:43 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21643, writes 0 timeouts 0
2025-04-24 15:39:43 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36014/37124
2025-04-24 15:39:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:43 [info] currentZPosition:0.109
2025-04-24 15:39:44 [debug] Stopped at height 0.107 mm
2025-04-24 15:39:44 [debug] Diagnostics for board 50:
2025-04-24 15:39:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:41:49 ago, cause: software
2025-04-24 15:39:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:44 [debug] Moves scheduled 42646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 98596306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:39:44 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17679, writes 0 timeouts 0
2025-04-24 15:39:44 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36081/37145
2025-04-24 15:39:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:44 [info] currentZPosition:0.107
2025-04-24 15:39:45 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:46 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:46 [debug] Diagnostics for board 50:
2025-04-24 15:39:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:51 ago, cause: software
2025-04-24 15:39:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:46 [debug] Moves scheduled 42652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 97332660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:39:46 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21205, writes 0 timeouts 0
2025-04-24 15:39:46 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36028/37118
2025-04-24 15:39:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:46 [info] currentZPosition:0.109
2025-04-24 15:39:47 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:48 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:48 [debug] Diagnostics for board 50:
2025-04-24 15:39:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:41:53 ago, cause: software
2025-04-24 15:39:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:48 [debug] Moves scheduled 42658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 96056701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:39:48 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21418, writes 0 timeouts 0
2025-04-24 15:39:48 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36137/37117
2025-04-24 15:39:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:48 [info] currentZPosition:0.108
2025-04-24 15:39:49 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:49 [debug] Diagnostics for board 50:
2025-04-24 15:39:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:54 ago, cause: software
2025-04-24 15:39:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:49 [debug] Moves scheduled 42662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 95008718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:39:49 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17611, writes 0 timeouts 0
2025-04-24 15:39:49 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36020/37157
2025-04-24 15:39:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:49 [info] currentZPosition:0.108
2025-04-24 15:39:51 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:51 [debug] Diagnostics for board 50:
2025-04-24 15:39:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:55 ago, cause: software
2025-04-24 15:39:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:51 [debug] Moves scheduled 42666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=14705
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 94001873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:39:51 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16880, writes 0 timeouts 0
2025-04-24 15:39:51 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36089/37123
2025-04-24 15:39:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9109, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:51 [info] currentZPosition:0.109
2025-04-24 15:39:52 [debug] Stopped at height 0.107 mm
2025-04-24 15:39:52 [debug] Diagnostics for board 50:
2025-04-24 15:39:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:57 ago, cause: software
2025-04-24 15:39:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:52 [debug] Moves scheduled 42670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 92909620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:39:52 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18319, writes 0 timeouts 0
2025-04-24 15:39:52 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36029/37082
2025-04-24 15:39:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9223, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:52 [info] currentZPosition:0.107
2025-04-24 15:39:52 [debug] Stopped at height 0.106 mm
2025-04-24 15:39:54 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:54 [debug] Diagnostics for board 50:
2025-04-24 15:39:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:41:59 ago, cause: software
2025-04-24 15:39:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:54 [debug] Moves scheduled 42676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 91667083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:39:54 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20854, writes 0 timeouts 0
2025-04-24 15:39:54 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 433, adv 36078/37115
2025-04-24 15:39:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:54 [info] currentZPosition:0.109
2025-04-24 15:39:54 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:55 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:55 [debug] Diagnostics for board 50:
2025-04-24 15:39:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:42:00 ago, cause: software
2025-04-24 15:39:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:55 [debug] Moves scheduled 42682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 90384936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:39:55 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21511, writes 0 timeouts 0
2025-04-24 15:39:55 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36063/37098
2025-04-24 15:39:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:55 [info] currentZPosition:0.109
2025-04-24 15:39:56 [debug] Stopped at height 0.109 mm
2025-04-24 15:39:57 [debug] Stopped at height 0.108 mm
2025-04-24 15:39:57 [debug] Diagnostics for board 50:
2025-04-24 15:39:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:42:02 ago, cause: software
2025-04-24 15:39:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:57 [debug] Moves scheduled 42688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 89110638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:39:57 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21375, writes 0 timeouts 0
2025-04-24 15:39:57 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 446, adv 36147/37101
2025-04-24 15:39:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:57 [info] currentZPosition:0.108
2025-04-24 15:39:58 [debug] Stopped at height 0.110 mm
2025-04-24 15:39:58 [debug] Diagnostics for board 50:
2025-04-24 15:39:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:39:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:42:03 ago, cause: software
2025-04-24 15:39:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:39:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:39:58 [debug] Moves scheduled 42692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter 0/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 88080753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:39:58 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17296, writes 0 timeouts 0
2025-04-24 15:39:58 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36039/37116
2025-04-24 15:39:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:39:59 [info] currentZPosition:0.110
2025-04-24 15:39:59 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:00 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:00 [debug] Diagnostics for board 50:
2025-04-24 15:40:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:05 ago, cause: software
2025-04-24 15:40:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:00 [debug] Moves scheduled 42698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 86813336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:40:00 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21267, writes 0 timeouts 0
2025-04-24 15:40:00 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36089/37168
2025-04-24 15:40:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:00 [info] currentZPosition:0.109
2025-04-24 15:40:02 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:02 [debug] Diagnostics for board 50:
2025-04-24 15:40:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:06 ago, cause: software
2025-04-24 15:40:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:02 [debug] Moves scheduled 42702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 85752045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:40:02 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17822, writes 0 timeouts 0
2025-04-24 15:40:02 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36043/37086
2025-04-24 15:40:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9107, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:02 [info] currentZPosition:0.109
2025-04-24 15:40:03 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:03 [debug] Diagnostics for board 50:
2025-04-24 15:40:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:08 ago, cause: software
2025-04-24 15:40:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:03 [debug] Moves scheduled 42706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 84706273 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:40:03 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17553, writes 0 timeouts 0
2025-04-24 15:40:03 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36073/37124
2025-04-24 15:40:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:03 [info] currentZPosition:0.108
2025-04-24 15:40:03 [debug] Stopped at height 0.105 mm
2025-04-24 15:40:04 [debug] Stopped at height 0.106 mm
2025-04-24 15:40:05 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:05 [debug] Diagnostics for board 50:
2025-04-24 15:40:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:42:10 ago, cause: software
2025-04-24 15:40:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:05 [debug] Moves scheduled 42714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 83162327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:40:05 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25895, writes 0 timeouts 0
2025-04-24 15:40:05 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36094/37165
2025-04-24 15:40:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:05 [info] currentZPosition:0.107
2025-04-24 15:40:05 [debug] Stopped at height 0.105 mm
2025-04-24 15:40:07 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:07 [debug] Diagnostics for board 50:
2025-04-24 15:40:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:12 ago, cause: software
2025-04-24 15:40:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:07 [debug] Moves scheduled 42720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 81931654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:07 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20654, writes 0 timeouts 0
2025-04-24 15:40:07 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36086/37127
2025-04-24 15:40:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:07 [info] currentZPosition:0.109
2025-04-24 15:40:07 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:08 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:08 [debug] Diagnostics for board 50:
2025-04-24 15:40:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:13 ago, cause: software
2025-04-24 15:40:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:08 [debug] Moves scheduled 42726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 80641350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:08 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21657, writes 0 timeouts 0
2025-04-24 15:40:08 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36021/37124
2025-04-24 15:40:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:08 [info] currentZPosition:0.109
2025-04-24 15:40:10 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:10 [debug] Diagnostics for board 50:
2025-04-24 15:40:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:15 ago, cause: software
2025-04-24 15:40:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:10 [debug] Moves scheduled 42730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15306
Sync err accum 72, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 79611157 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:40:10 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17284, writes 0 timeouts 0
2025-04-24 15:40:10 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36099/37140
2025-04-24 15:40:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:10 [info] currentZPosition:0.109
2025-04-24 15:40:11 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:11 [debug] Diagnostics for board 50:
2025-04-24 15:40:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:16 ago, cause: software
2025-04-24 15:40:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:11 [debug] Moves scheduled 42734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 78378221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:40:11 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22267, writes 0 timeouts 0
2025-04-24 15:40:11 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36025/37170
2025-04-24 15:40:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:12 [info] currentZPosition:0.110
2025-04-24 15:40:13 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:13 [debug] Diagnostics for board 50:
2025-04-24 15:40:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:42:18 ago, cause: software
2025-04-24 15:40:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:13 [debug] Moves scheduled 42738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8620, max=15000
Sync err accum 88, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 76659309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:40:13 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 27320, writes 0 timeouts 0
2025-04-24 15:40:13 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36131/37147
2025-04-24 15:40:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:14 [info] currentZPosition:0.110
2025-04-24 15:40:15 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:15 [debug] Diagnostics for board 50:
2025-04-24 15:40:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:20 ago, cause: software
2025-04-24 15:40:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:15 [debug] Moves scheduled 42742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 75592199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:40:15 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17908, writes 0 timeouts 0
2025-04-24 15:40:15 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36032/37114
2025-04-24 15:40:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:15 [info] currentZPosition:0.109
2025-04-24 15:40:16 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:16 [debug] Diagnostics for board 50:
2025-04-24 15:40:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:21 ago, cause: software
2025-04-24 15:40:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:16 [debug] Moves scheduled 42746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 109, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 74567476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:16 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17199, writes 0 timeouts 0
2025-04-24 15:40:16 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36080/37155
2025-04-24 15:40:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:17 [info] currentZPosition:0.109
2025-04-24 15:40:18 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:18 [debug] Diagnostics for board 50:
2025-04-24 15:40:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:23 ago, cause: software
2025-04-24 15:40:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:18 [debug] Moves scheduled 42750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 116, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 73520827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:40:18 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17559, writes 0 timeouts 0
2025-04-24 15:40:18 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36024/37147
2025-04-24 15:40:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:18 [info] currentZPosition:0.109
2025-04-24 15:40:19 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:19 [debug] Diagnostics for board 50:
2025-04-24 15:40:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:24 ago, cause: software
2025-04-24 15:40:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:19 [debug] Moves scheduled 42754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 120, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 72465976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:40:19 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17696, writes 0 timeouts 0
2025-04-24 15:40:19 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36093/37150
2025-04-24 15:40:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:19 [info] currentZPosition:0.107
2025-04-24 15:40:20 [debug] Stopped at height 0.106 mm
2025-04-24 15:40:21 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:21 [debug] Diagnostics for board 50:
2025-04-24 15:40:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:26 ago, cause: software
2025-04-24 15:40:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:21 [debug] Moves scheduled 42760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 120, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 71189036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:40:21 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21424, writes 0 timeouts 0
2025-04-24 15:40:21 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36009/37159
2025-04-24 15:40:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:21 [info] currentZPosition:0.109
2025-04-24 15:40:21 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:23 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:23 [debug] Diagnostics for board 50:
2025-04-24 15:40:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:28 ago, cause: software
2025-04-24 15:40:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:23 [debug] Moves scheduled 42766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 120, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 69941074 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:40:23 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20954, writes 0 timeouts 0
2025-04-24 15:40:23 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36106/37102
2025-04-24 15:40:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:23 [info] currentZPosition:0.110
2025-04-24 15:40:24 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:24 [debug] Diagnostics for board 50:
2025-04-24 15:40:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:29 ago, cause: software
2025-04-24 15:40:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:24 [debug] Moves scheduled 42770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 112, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 68859636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:40:24 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18159, writes 0 timeouts 0
2025-04-24 15:40:24 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36040/37141
2025-04-24 15:40:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9212, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:24 [info] currentZPosition:0.108
2025-04-24 15:40:25 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:25 [debug] Diagnostics for board 50:
2025-04-24 15:40:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:42:30 ago, cause: software
2025-04-24 15:40:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:25 [debug] Moves scheduled 42774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 104, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 67854873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:40:25 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16848, writes 0 timeouts 0
2025-04-24 15:40:25 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36065/37166
2025-04-24 15:40:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:25 [info] currentZPosition:0.109
2025-04-24 15:40:27 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:27 [debug] Diagnostics for board 50:
2025-04-24 15:40:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:32 ago, cause: software
2025-04-24 15:40:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:27 [debug] Moves scheduled 42778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 66794747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:40:27 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17791, writes 0 timeouts 0
2025-04-24 15:40:27 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36060/37101
2025-04-24 15:40:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:27 [info] currentZPosition:0.109
2025-04-24 15:40:28 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:28 [debug] Diagnostics for board 50:
2025-04-24 15:40:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:33 ago, cause: software
2025-04-24 15:40:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:28 [debug] Moves scheduled 42782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10416, max=15306
Sync err accum 80, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 65755408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:40:28 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17457, writes 0 timeouts 0
2025-04-24 15:40:28 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36052/37158
2025-04-24 15:40:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:28 [info] currentZPosition:0.108
2025-04-24 15:40:30 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:30 [debug] Diagnostics for board 50:
2025-04-24 15:40:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:34 ago, cause: software
2025-04-24 15:40:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:30 [debug] Moves scheduled 42786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 64721481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:40:30 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17341, writes 0 timeouts 0
2025-04-24 15:40:30 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36045/37082
2025-04-24 15:40:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:30 [info] currentZPosition:0.109
2025-04-24 15:40:30 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:30 [debug] Stopped at height 0.106 mm
2025-04-24 15:40:32 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:32 [debug] Diagnostics for board 50:
2025-04-24 15:40:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:42:37 ago, cause: software
2025-04-24 15:40:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:32 [debug] Moves scheduled 42794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 63174235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:40:32 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25949, writes 0 timeouts 0
2025-04-24 15:40:32 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36251/37121
2025-04-24 15:40:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:32 [info] currentZPosition:0.107
2025-04-24 15:40:33 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:33 [debug] Diagnostics for board 50:
2025-04-24 15:40:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:42:38 ago, cause: software
2025-04-24 15:40:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:33 [debug] Moves scheduled 42798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15625
Sync err accum 85, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 62112739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:40:33 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17831, writes 0 timeouts 0
2025-04-24 15:40:33 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36062/37162
2025-04-24 15:40:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:33 [info] currentZPosition:0.107
2025-04-24 15:40:34 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:34 [debug] Diagnostics for board 50:
2025-04-24 15:40:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:42:39 ago, cause: software
2025-04-24 15:40:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:34 [debug] Moves scheduled 42802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 61111759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:40:34 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16760, writes 0 timeouts 0
2025-04-24 15:40:34 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36301/37119
2025-04-24 15:40:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:34 [info] currentZPosition:0.108
2025-04-24 15:40:36 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:36 [debug] Diagnostics for board 50:
2025-04-24 15:40:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:41 ago, cause: software
2025-04-24 15:40:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:36 [debug] Moves scheduled 42806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 60031953 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:40:36 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18130, writes 0 timeouts 0
2025-04-24 15:40:36 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35992/37091
2025-04-24 15:40:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:36 [info] currentZPosition:0.107
2025-04-24 15:40:36 [debug] Stopped at height 0.106 mm
2025-04-24 15:40:38 [debug] Stopped at height 0.106 mm
2025-04-24 15:40:38 [debug] Diagnostics for board 50:
2025-04-24 15:40:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:42 ago, cause: software
2025-04-24 15:40:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:38 [debug] Moves scheduled 42812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 58757153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:40:38 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21395, writes 0 timeouts 0
2025-04-24 15:40:38 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36253/37152
2025-04-24 15:40:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:38 [info] currentZPosition:0.106
2025-04-24 15:40:39 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:39 [debug] Diagnostics for board 50:
2025-04-24 15:40:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:44 ago, cause: software
2025-04-24 15:40:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:39 [debug] Moves scheduled 42816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 57716401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:39 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17447, writes 0 timeouts 0
2025-04-24 15:40:39 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 345, adv 36046/37151
2025-04-24 15:40:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:39 [info] currentZPosition:0.107
2025-04-24 15:40:40 [debug] Stopped at height 0.107 mm
2025-04-24 15:40:40 [debug] Diagnostics for board 50:
2025-04-24 15:40:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:45 ago, cause: software
2025-04-24 15:40:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:40 [debug] Moves scheduled 42820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 56687730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:40 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17258, writes 0 timeouts 0
2025-04-24 15:40:40 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36365/37120
2025-04-24 15:40:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:40 [info] currentZPosition:0.107
2025-04-24 15:40:42 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:42 [debug] Diagnostics for board 50:
2025-04-24 15:40:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:47 ago, cause: software
2025-04-24 15:40:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:42 [debug] Moves scheduled 42824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10563, max=15306
Sync err accum 83, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 55674625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:40:42 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17031, writes 0 timeouts 0
2025-04-24 15:40:42 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36090/37099
2025-04-24 15:40:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:42 [info] currentZPosition:0.110
2025-04-24 15:40:42 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:43 [debug] Stopped at height 0.111 mm
2025-04-24 15:40:43 [debug] Diagnostics for board 50:
2025-04-24 15:40:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:48 ago, cause: software
2025-04-24 15:40:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:43 [debug] Moves scheduled 42830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 54430170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:40:43 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20866, writes 0 timeouts 0
2025-04-24 15:40:43 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36318/37171
2025-04-24 15:40:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9099, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:43 [info] currentZPosition:0.111
2025-04-24 15:40:44 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:45 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:45 [debug] Diagnostics for board 50:
2025-04-24 15:40:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:50 ago, cause: software
2025-04-24 15:40:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:45 [debug] Moves scheduled 42836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 53113786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:45 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22080, writes 0 timeouts 0
2025-04-24 15:40:45 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36015/37135
2025-04-24 15:40:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:45 [info] currentZPosition:0.109
2025-04-24 15:40:46 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:46 [debug] Diagnostics for board 50:
2025-04-24 15:40:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:51 ago, cause: software
2025-04-24 15:40:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:46 [debug] Moves scheduled 42840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 52094227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:40:46 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17103, writes 0 timeouts 0
2025-04-24 15:40:46 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36336/37133
2025-04-24 15:40:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:46 [info] currentZPosition:0.110
2025-04-24 15:40:48 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:48 [debug] Diagnostics for board 50:
2025-04-24 15:40:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:53 ago, cause: software
2025-04-24 15:40:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:48 [debug] Moves scheduled 42844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 51037989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:40:48 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17745, writes 0 timeouts 0
2025-04-24 15:40:48 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 333, adv 36056/37158
2025-04-24 15:40:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9136, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:48 [info] currentZPosition:0.110
2025-04-24 15:40:49 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:49 [debug] Diagnostics for board 50:
2025-04-24 15:40:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:54 ago, cause: software
2025-04-24 15:40:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:49 [debug] Moves scheduled 42848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 50009276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:49 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17264, writes 0 timeouts 0
2025-04-24 15:40:49 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36345/37122
2025-04-24 15:40:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9194, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:49 [info] currentZPosition:0.109
2025-04-24 15:40:51 [debug] Stopped at height 0.111 mm
2025-04-24 15:40:51 [debug] Diagnostics for board 50:
2025-04-24 15:40:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:55 ago, cause: software
2025-04-24 15:40:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:51 [debug] Moves scheduled 42852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 48980956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:51 [debug] Driver 0: pos -3515, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17260, writes 0 timeouts 0
2025-04-24 15:40:51 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36030/37115
2025-04-24 15:40:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9094, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:51 [info] currentZPosition:0.111
2025-04-24 15:40:51 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:52 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:52 [debug] Diagnostics for board 50:
2025-04-24 15:40:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:42:57 ago, cause: software
2025-04-24 15:40:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:52 [debug] Moves scheduled 42858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 47708519 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:40:52 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21350, writes 0 timeouts 0
2025-04-24 15:40:52 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36293/37136
2025-04-24 15:40:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:52 [info] currentZPosition:0.110
2025-04-24 15:40:54 [debug] Stopped at height 0.109 mm
2025-04-24 15:40:54 [debug] Diagnostics for board 50:
2025-04-24 15:40:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:42:59 ago, cause: software
2025-04-24 15:40:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:54 [debug] Moves scheduled 42862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 46628140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:40:54 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18127, writes 0 timeouts 0
2025-04-24 15:40:54 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35999/37147
2025-04-24 15:40:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:54 [info] currentZPosition:0.109
2025-04-24 15:40:55 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:55 [debug] Diagnostics for board 50:
2025-04-24 15:40:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:00 ago, cause: software
2025-04-24 15:40:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:55 [debug] Moves scheduled 42866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 45623522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-24 15:40:55 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16869, writes 0 timeouts 0
2025-04-24 15:40:55 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36333/37120
2025-04-24 15:40:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:55 [info] currentZPosition:0.110
2025-04-24 15:40:55 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:57 [debug] Stopped at height 0.108 mm
2025-04-24 15:40:57 [debug] Diagnostics for board 50:
2025-04-24 15:40:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:02 ago, cause: software
2025-04-24 15:40:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:57 [debug] Moves scheduled 42872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 44286120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:40:57 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22432, writes 0 timeouts 0
2025-04-24 15:40:57 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36047/37115
2025-04-24 15:40:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:57 [info] currentZPosition:0.108
2025-04-24 15:40:58 [debug] Stopped at height 0.110 mm
2025-04-24 15:40:58 [debug] Diagnostics for board 50:
2025-04-24 15:40:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:40:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:03 ago, cause: software
2025-04-24 15:40:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:40:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:40:58 [debug] Moves scheduled 42876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 43302843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:40:58 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16496, writes 0 timeouts 0
2025-04-24 15:40:58 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36335/37120
2025-04-24 15:40:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:40:58 [info] currentZPosition:0.110
2025-04-24 15:40:59 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:00 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:00 [debug] Diagnostics for board 50:
2025-04-24 15:41:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:05 ago, cause: software
2025-04-24 15:41:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:00 [debug] Moves scheduled 42882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 42014376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:41:00 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21617, writes 0 timeouts 0
2025-04-24 15:41:00 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36036/37140
2025-04-24 15:41:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:00 [info] currentZPosition:0.110
2025-04-24 15:41:00 [debug] Stopped at height 0.107 mm
2025-04-24 15:41:02 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:02 [debug] Diagnostics for board 50:
2025-04-24 15:41:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:06 ago, cause: software
2025-04-24 15:41:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:02 [debug] Moves scheduled 42888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 40761769 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: m
2025-04-24 15:41:02 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21011, writes 0 timeouts 0
2025-04-24 15:41:02 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36370/37099
2025-04-24 15:41:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:02 [info] currentZPosition:0.110
2025-04-24 15:41:02 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:03 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:03 [debug] Diagnostics for board 50:
2025-04-24 15:41:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:08 ago, cause: software
2025-04-24 15:41:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:03 [debug] Moves scheduled 42894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 39456448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:41:03 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21892, writes 0 timeouts 0
2025-04-24 15:41:03 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36027/37141
2025-04-24 15:41:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:03 [info] currentZPosition:0.109
2025-04-24 15:41:05 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:05 [debug] Diagnostics for board 50:
2025-04-24 15:41:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:10 ago, cause: software
2025-04-24 15:41:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:05 [debug] Moves scheduled 42898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 38420173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:41:05 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17398, writes 0 timeouts 0
2025-04-24 15:41:05 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36322/37163
2025-04-24 15:41:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9237, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:05 [info] currentZPosition:0.108
2025-04-24 15:41:06 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:06 [debug] Diagnostics for board 50:
2025-04-24 15:41:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:11 ago, cause: software
2025-04-24 15:41:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:06 [debug] Moves scheduled 42902, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 37369532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:41:06 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17619, writes 0 timeouts 0
2025-04-24 15:41:06 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36015/37084
2025-04-24 15:41:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9232, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:06 [info] currentZPosition:0.109
2025-04-24 15:41:07 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:07 [debug] Diagnostics for board 50:
2025-04-24 15:41:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:12 ago, cause: software
2025-04-24 15:41:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:07 [debug] Moves scheduled 42906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 36375572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:41:07 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16686, writes 0 timeouts 0
2025-04-24 15:41:07 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36309/37116
2025-04-24 15:41:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:07 [info] currentZPosition:0.110
2025-04-24 15:41:08 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:09 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:09 [debug] Diagnostics for board 50:
2025-04-24 15:41:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:43:14 ago, cause: software
2025-04-24 15:41:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:09 [debug] Moves scheduled 42912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 35072974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:41:09 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21845, writes 0 timeouts 0
2025-04-24 15:41:09 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36056/37144
2025-04-24 15:41:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9224, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:09 [info] currentZPosition:0.109
2025-04-24 15:41:10 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:10 [debug] Diagnostics for board 50:
2025-04-24 15:41:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:43:15 ago, cause: software
2025-04-24 15:41:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:10 [debug] Moves scheduled 42916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 34066714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:41:10 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16895, writes 0 timeouts 0
2025-04-24 15:41:10 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36339/37115
2025-04-24 15:41:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:11 [info] currentZPosition:0.110
2025-04-24 15:41:12 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:12 [debug] Diagnostics for board 50:
2025-04-24 15:41:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:17 ago, cause: software
2025-04-24 15:41:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:12 [debug] Moves scheduled 42920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 33006774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:41:12 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17788, writes 0 timeouts 0
2025-04-24 15:41:12 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36082/37109
2025-04-24 15:41:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:12 [info] currentZPosition:0.110
2025-04-24 15:41:13 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:13 [debug] Diagnostics for board 50:
2025-04-24 15:41:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:18 ago, cause: software
2025-04-24 15:41:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:13 [debug] Moves scheduled 42924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 31971571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:41:13 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17379, writes 0 timeouts 0
2025-04-24 15:41:13 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36299/37125
2025-04-24 15:41:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:13 [info] currentZPosition:0.110
2025-04-24 15:41:15 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:15 [debug] Diagnostics for board 50:
2025-04-24 15:41:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:43:20 ago, cause: software
2025-04-24 15:41:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:15 [debug] Moves scheduled 42928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 30887483 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:41:15 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18182, writes 0 timeouts 0
2025-04-24 15:41:15 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36055/37118
2025-04-24 15:41:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:15 [info] currentZPosition:0.108
2025-04-24 15:41:15 [debug] Stopped at height 0.107 mm
2025-04-24 15:41:16 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:16 [debug] Diagnostics for board 50:
2025-04-24 15:41:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:21 ago, cause: software
2025-04-24 15:41:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:16 [debug] Moves scheduled 42934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 29635677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:41:16 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21012, writes 0 timeouts 0
2025-04-24 15:41:16 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36332/37117
2025-04-24 15:41:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:16 [info] currentZPosition:0.109
2025-04-24 15:41:17 [debug] Stopped at height 0.107 mm
2025-04-24 15:41:18 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:18 [debug] Diagnostics for board 50:
2025-04-24 15:41:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:23 ago, cause: software
2025-04-24 15:41:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:18 [debug] Moves scheduled 42940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 28370683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:41:18 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21229, writes 0 timeouts 0
2025-04-24 15:41:18 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36031/37108
2025-04-24 15:41:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:18 [info] currentZPosition:0.111
2025-04-24 15:41:19 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:20 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:20 [debug] Diagnostics for board 50:
2025-04-24 15:41:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:25 ago, cause: software
2025-04-24 15:41:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:20 [debug] Moves scheduled 42946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 27103719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:41:20 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21290, writes 0 timeouts 0
2025-04-24 15:41:20 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36378/37126
2025-04-24 15:41:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9120, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:20 [info] currentZPosition:0.110
2025-04-24 15:41:20 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:21 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:21 [debug] Diagnostics for board 50:
2025-04-24 15:41:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:26 ago, cause: software
2025-04-24 15:41:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:21 [debug] Moves scheduled 42952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 25812084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: m
2025-04-24 15:41:21 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21622, writes 0 timeouts 0
2025-04-24 15:41:21 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36090/37126
2025-04-24 15:41:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:22 [info] currentZPosition:0.110
2025-04-24 15:41:22 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:23 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:23 [debug] Diagnostics for board 50:
2025-04-24 15:41:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:43:28 ago, cause: software
2025-04-24 15:41:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:23 [debug] Moves scheduled 42958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 24566503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:41:23 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20917, writes 0 timeouts 0
2025-04-24 15:41:23 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36369/37115
2025-04-24 15:41:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:23 [info] currentZPosition:0.111
2025-04-24 15:41:24 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:25 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:25 [debug] Diagnostics for board 50:
2025-04-24 15:41:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:30 ago, cause: software
2025-04-24 15:41:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:25 [debug] Moves scheduled 42964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9146, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 23231337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35
2025-04-24 15:41:25 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22423, writes 0 timeouts 0
2025-04-24 15:41:25 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36021/37118
2025-04-24 15:41:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:25 [info] currentZPosition:0.108
2025-04-24 15:41:26 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:26 [debug] Diagnostics for board 50:
2025-04-24 15:41:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:31 ago, cause: software
2025-04-24 15:41:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:26 [debug] Moves scheduled 42968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 69, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 22254852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:41:26 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16351, writes 0 timeouts 0
2025-04-24 15:41:26 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36315/37152
2025-04-24 15:41:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:26 [info] currentZPosition:0.111
2025-04-24 15:41:27 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:28 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:28 [debug] Diagnostics for board 50:
2025-04-24 15:41:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:33 ago, cause: software
2025-04-24 15:41:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:28 [debug] Moves scheduled 42974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 20949252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:41:28 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21950, writes 0 timeouts 0
2025-04-24 15:41:28 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35999/37132
2025-04-24 15:41:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:28 [info] currentZPosition:0.110
2025-04-24 15:41:29 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:29 [debug] Diagnostics for board 50:
2025-04-24 15:41:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:34 ago, cause: software
2025-04-24 15:41:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:29 [debug] Moves scheduled 42978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9868, max=15000
Sync err accum 75, peak jitter 0/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 19928176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: m
2025-04-24 15:41:29 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17123, writes 0 timeouts 0
2025-04-24 15:41:29 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36199/37123
2025-04-24 15:41:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9125, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:29 [info] currentZPosition:0.111
2025-04-24 15:41:31 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:31 [debug] Diagnostics for board 50:
2025-04-24 15:41:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:43:36 ago, cause: software
2025-04-24 15:41:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:31 [debug] Moves scheduled 42982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 18840335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: m
2025-04-24 15:41:31 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18228, writes 0 timeouts 0
2025-04-24 15:41:31 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36103/37117
2025-04-24 15:41:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:31 [info] currentZPosition:0.109
2025-04-24 15:41:31 [debug] Stopped at height 0.107 mm
2025-04-24 15:41:32 [debug] Stopped at height 0.106 mm
2025-04-24 15:41:33 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:33 [debug] Diagnostics for board 50:
2025-04-24 15:41:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:38 ago, cause: software
2025-04-24 15:41:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:33 [debug] Moves scheduled 42990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 17343314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 35.
2025-04-24 15:41:33 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25126, writes 0 timeouts 0
2025-04-24 15:41:33 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36086/37144
2025-04-24 15:41:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:33 [info] currentZPosition:0.110
2025-04-24 15:41:33 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:34 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:34 [debug] Diagnostics for board 50:
2025-04-24 15:41:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:39 ago, cause: software
2025-04-24 15:41:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:34 [debug] Moves scheduled 42996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 16018723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 35
2025-04-24 15:41:34 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22221, writes 0 timeouts 0
2025-04-24 15:41:34 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36050/37123
2025-04-24 15:41:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:35 [info] currentZPosition:0.108
2025-04-24 15:41:36 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:36 [debug] Diagnostics for board 50:
2025-04-24 15:41:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:41 ago, cause: software
2025-04-24 15:41:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:36 [debug] Moves scheduled 43000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 15039431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:41:36 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16431, writes 0 timeouts 0
2025-04-24 15:41:36 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36095/37123
2025-04-24 15:41:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:36 [info] currentZPosition:0.111
2025-04-24 15:41:36 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:38 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:38 [debug] Diagnostics for board 50:
2025-04-24 15:41:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:42 ago, cause: software
2025-04-24 15:41:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:38 [debug] Moves scheduled 43006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 13755180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35
2025-04-24 15:41:38 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21563, writes 0 timeouts 0
2025-04-24 15:41:38 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36057/37145
2025-04-24 15:41:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:38 [info] currentZPosition:0.111
2025-04-24 15:41:38 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:39 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:39 [debug] Diagnostics for board 50:
2025-04-24 15:41:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:44 ago, cause: software
2025-04-24 15:41:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:39 [debug] Moves scheduled 43012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 12460301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curre
2025-04-24 15:41:39 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21703, writes 0 timeouts 0
2025-04-24 15:41:39 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36109/37112
2025-04-24 15:41:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:39 [info] currentZPosition:0.109
2025-04-24 15:41:41 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:41 [debug] Diagnostics for board 50:
2025-04-24 15:41:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:43:46 ago, cause: software
2025-04-24 15:41:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:41 [debug] Moves scheduled 43016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 11442160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:41:41 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17081, writes 0 timeouts 0
2025-04-24 15:41:41 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36041/37163
2025-04-24 15:41:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:41 [info] currentZPosition:0.111
2025-04-24 15:41:41 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:42 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:42 [debug] Diagnostics for board 50:
2025-04-24 15:41:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:47 ago, cause: software
2025-04-24 15:41:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:42 [debug] Moves scheduled 43022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 10182128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:41:42 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21150, writes 0 timeouts 0
2025-04-24 15:41:42 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36099/37162
2025-04-24 15:41:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:42 [info] currentZPosition:0.111
2025-04-24 15:41:44 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:44 [debug] Diagnostics for board 50:
2025-04-24 15:41:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:49 ago, cause: software
2025-04-24 15:41:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:44 [debug] Moves scheduled 43026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9868, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 9116718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curren
2025-04-24 15:41:44 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17871, writes 0 timeouts 0
2025-04-24 15:41:44 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36025/37124
2025-04-24 15:41:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:44 [info] currentZPosition:0.111
2025-04-24 15:41:45 [debug] Stopped at height 0.112 mm
2025-04-24 15:41:45 [debug] Diagnostics for board 50:
2025-04-24 15:41:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:43:50 ago, cause: software
2025-04-24 15:41:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:45 [debug] Moves scheduled 43030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 69, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 8112470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:41:45 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16883, writes 0 timeouts 0
2025-04-24 15:41:45 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36065/37107
2025-04-24 15:41:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:45 [info] currentZPosition:0.112
2025-04-24 15:41:47 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:47 [debug] Diagnostics for board 50:
2025-04-24 15:41:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:51 ago, cause: software
2025-04-24 15:41:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:47 [debug] Moves scheduled 43034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 6990890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: m
2025-04-24 15:41:47 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18801, writes 0 timeouts 0
2025-04-24 15:41:47 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36040/37111
2025-04-24 15:41:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:47 [info] currentZPosition:0.108
2025-04-24 15:41:47 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:48 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:48 [debug] Diagnostics for board 50:
2025-04-24 15:41:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:53 ago, cause: software
2025-04-24 15:41:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:48 [debug] Moves scheduled 43040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 5752385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35.3
2025-04-24 15:41:48 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20787, writes 0 timeouts 0
2025-04-24 15:41:48 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36085/37125
2025-04-24 15:41:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:48 [info] currentZPosition:0.109
2025-04-24 15:41:50 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:50 [debug] Diagnostics for board 50:
2025-04-24 15:41:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:43:54 ago, cause: software
2025-04-24 15:41:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:50 [debug] Moves scheduled 43044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4730794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35.
2025-04-24 15:41:50 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17141, writes 0 timeouts 0
2025-04-24 15:41:50 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36016/37123
2025-04-24 15:41:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:50 [info] currentZPosition:0.111
2025-04-24 15:41:50 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:51 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:51 [debug] Diagnostics for board 50:
2025-04-24 15:41:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:56 ago, cause: software
2025-04-24 15:41:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:51 [debug] Moves scheduled 43050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 63, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3465718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 35.
2025-04-24 15:41:51 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21215, writes 0 timeouts 0
2025-04-24 15:41:51 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36098/37127
2025-04-24 15:41:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:51 [info] currentZPosition:0.110
2025-04-24 15:41:52 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:53 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:53 [debug] Diagnostics for board 50:
2025-04-24 15:41:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:43:58 ago, cause: software
2025-04-24 15:41:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:53 [debug] Moves scheduled 43056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 73, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2149285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: m
2025-04-24 15:41:53 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22092, writes 0 timeouts 0
2025-04-24 15:41:53 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36047/37120
2025-04-24 15:41:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:53 [info] currentZPosition:0.109
2025-04-24 15:41:53 [debug] Stopped at height 0.107 mm
2025-04-24 15:41:54 [debug] Stopped at height 0.106 mm
2025-04-24 15:41:55 [debug] Stopped at height 0.109 mm
2025-04-24 15:41:55 [debug] Diagnostics for board 50:
2025-04-24 15:41:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:00 ago, cause: software
2025-04-24 15:41:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:55 [debug] Moves scheduled 43064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 644707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 35.3C
2025-04-24 15:41:55 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25259, writes 0 timeouts 0
2025-04-24 15:41:55 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36109/37144
2025-04-24 15:41:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:55 [info] currentZPosition:0.109
2025-04-24 15:41:55 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:57 [debug] Stopped at height 0.110 mm
2025-04-24 15:41:57 [debug] Diagnostics for board 50:
2025-04-24 15:41:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:02 ago, cause: software
2025-04-24 15:41:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:57 [debug] Moves scheduled 43070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4294335243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:41:57 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21407, writes 0 timeouts 0
2025-04-24 15:41:57 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36030/37119
2025-04-24 15:41:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:57 [info] currentZPosition:0.110
2025-04-24 15:41:57 [debug] Stopped at height 0.108 mm
2025-04-24 15:41:58 [debug] Stopped at height 0.111 mm
2025-04-24 15:41:58 [debug] Diagnostics for board 50:
2025-04-24 15:41:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:41:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:03 ago, cause: software
2025-04-24 15:41:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:41:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:41:58 [debug] Moves scheduled 43076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 99, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4293103851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:41:58 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20667, writes 0 timeouts 0
2025-04-24 15:41:58 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 36056/37145
2025-04-24 15:41:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:41:58 [info] currentZPosition:0.111
2025-04-24 15:41:59 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:00 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:00 [debug] Diagnostics for board 50:
2025-04-24 15:42:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:05 ago, cause: software
2025-04-24 15:42:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:00 [debug] Moves scheduled 43082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4291816839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:42:00 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21626, writes 0 timeouts 0
2025-04-24 15:42:00 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36094/37141
2025-04-24 15:42:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:00 [info] currentZPosition:0.112
2025-04-24 15:42:01 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:01 [debug] Diagnostics for board 50:
2025-04-24 15:42:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:06 ago, cause: software
2025-04-24 15:42:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:01 [debug] Moves scheduled 43086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4290761274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:42:01 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17695, writes 0 timeouts 0
2025-04-24 15:42:01 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36068/37102
2025-04-24 15:42:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9221, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:02 [info] currentZPosition:0.110
2025-04-24 15:42:02 [debug] Stopped at height 0.108 mm
2025-04-24 15:42:03 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:03 [debug] Diagnostics for board 50:
2025-04-24 15:42:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:44:08 ago, cause: software
2025-04-24 15:42:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:03 [debug] Moves scheduled 43092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4289456285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:42:03 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21891, writes 0 timeouts 0
2025-04-24 15:42:03 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36017/37165
2025-04-24 15:42:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:03 [info] currentZPosition:0.110
2025-04-24 15:42:05 [debug] Stopped at height 0.109 mm
2025-04-24 15:42:05 [debug] Diagnostics for board 50:
2025-04-24 15:42:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:44:10 ago, cause: software
2025-04-24 15:42:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:05 [debug] Moves scheduled 43096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4288410819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max
2025-04-24 15:42:05 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17563, writes 0 timeouts 0
2025-04-24 15:42:05 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36070/37131
2025-04-24 15:42:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:05 [info] currentZPosition:0.109
2025-04-24 15:42:05 [debug] Stopped at height 0.108 mm
2025-04-24 15:42:06 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:06 [debug] Diagnostics for board 50:
2025-04-24 15:42:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:11 ago, cause: software
2025-04-24 15:42:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:06 [debug] Moves scheduled 43102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4287161778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:42:06 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20933, writes 0 timeouts 0
2025-04-24 15:42:06 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36078/37150
2025-04-24 15:42:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:06 [info] currentZPosition:0.111
2025-04-24 15:42:07 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:07 [debug] Stopped at height 0.108 mm
2025-04-24 15:42:08 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:08 [debug] Diagnostics for board 50:
2025-04-24 15:42:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:13 ago, cause: software
2025-04-24 15:42:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:08 [debug] Moves scheduled 43110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4285655041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:42:08 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25287, writes 0 timeouts 0
2025-04-24 15:42:08 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36110/37122
2025-04-24 15:42:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9172, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:08 [info] currentZPosition:0.111
2025-04-24 15:42:09 [debug] Stopped at height 0.109 mm
2025-04-24 15:42:10 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:10 [debug] Diagnostics for board 50:
2025-04-24 15:42:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:15 ago, cause: software
2025-04-24 15:42:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:10 [debug] Moves scheduled 43116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4284367783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:42:10 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21612, writes 0 timeouts 0
2025-04-24 15:42:10 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36083/37127
2025-04-24 15:42:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:10 [info] currentZPosition:0.111
2025-04-24 15:42:10 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:12 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:12 [debug] Diagnostics for board 50:
2025-04-24 15:42:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:17 ago, cause: software
2025-04-24 15:42:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:12 [debug] Moves scheduled 43122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 109, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4283111899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:42:12 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21072, writes 0 timeouts 0
2025-04-24 15:42:12 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36100/37122
2025-04-24 15:42:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:12 [info] currentZPosition:0.112
2025-04-24 15:42:13 [debug] Stopped at height 0.109 mm
2025-04-24 15:42:13 [debug] Diagnostics for board 50:
2025-04-24 15:42:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:18 ago, cause: software
2025-04-24 15:42:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:13 [debug] Moves scheduled 43126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 117, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4282012325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:42:13 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18430, writes 0 timeouts 0
2025-04-24 15:42:13 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36061/37151
2025-04-24 15:42:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:13 [info] currentZPosition:0.109
2025-04-24 15:42:14 [debug] Stopped at height 0.108 mm
2025-04-24 15:42:15 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:15 [debug] Diagnostics for board 50:
2025-04-24 15:42:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:44:20 ago, cause: software
2025-04-24 15:42:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:15 [debug] Moves scheduled 43132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 122, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4280755895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:42:15 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21073, writes 0 timeouts 0
2025-04-24 15:42:15 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36091/37118
2025-04-24 15:42:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:15 [info] currentZPosition:0.110
2025-04-24 15:42:16 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:16 [debug] Diagnostics for board 50:
2025-04-24 15:42:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:44:21 ago, cause: software
2025-04-24 15:42:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:16 [debug] Moves scheduled 43136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 120, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4279730723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:42:16 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17211, writes 0 timeouts 0
2025-04-24 15:42:16 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35954/37116
2025-04-24 15:42:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:16 [info] currentZPosition:0.111
2025-04-24 15:42:17 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:18 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:18 [debug] Diagnostics for board 50:
2025-04-24 15:42:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:23 ago, cause: software
2025-04-24 15:42:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:18 [debug] Moves scheduled 43142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 118, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4278482712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:42:18 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20940, writes 0 timeouts 0
2025-04-24 15:42:18 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36079/37157
2025-04-24 15:42:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:18 [info] currentZPosition:0.112
2025-04-24 15:42:18 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:20 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:20 [debug] Diagnostics for board 50:
2025-04-24 15:42:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:44:24 ago, cause: software
2025-04-24 15:42:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:20 [debug] Moves scheduled 43148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 110, peak jitter -1/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4277181040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 15:42:20 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21842, writes 0 timeouts 0
2025-04-24 15:42:20 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36097/37117
2025-04-24 15:42:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:20 [info] currentZPosition:0.112
2025-04-24 15:42:21 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:21 [debug] Diagnostics for board 50:
2025-04-24 15:42:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:26 ago, cause: software
2025-04-24 15:42:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:21 [debug] Moves scheduled 43152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4276167639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:42:21 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17005, writes 0 timeouts 0
2025-04-24 15:42:21 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36111/37085
2025-04-24 15:42:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9116, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:21 [info] currentZPosition:0.112
2025-04-24 15:42:22 [debug] Stopped at height 0.113 mm
2025-04-24 15:42:22 [debug] Diagnostics for board 50:
2025-04-24 15:42:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:27 ago, cause: software
2025-04-24 15:42:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:22 [debug] Moves scheduled 43156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4275121050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:42:22 [debug] Driver 0: pos -3517, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17575, writes 0 timeouts 0
2025-04-24 15:42:22 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36037/37086
2025-04-24 15:42:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:22 [info] currentZPosition:0.113
2025-04-24 15:42:24 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:24 [debug] Diagnostics for board 50:
2025-04-24 15:42:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:29 ago, cause: software
2025-04-24 15:42:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:24 [debug] Moves scheduled 43160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4274080782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:42:24 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17456, writes 0 timeouts 0
2025-04-24 15:42:24 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36060/37105
2025-04-24 15:42:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9178, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:24 [info] currentZPosition:0.112
2025-04-24 15:42:25 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:25 [debug] Diagnostics for board 50:
2025-04-24 15:42:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:30 ago, cause: software
2025-04-24 15:42:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:25 [debug] Moves scheduled 43164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4273028981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:42:25 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17660, writes 0 timeouts 0
2025-04-24 15:42:25 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36029/37093
2025-04-24 15:42:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9154, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:25 [info] currentZPosition:0.112
2025-04-24 15:42:26 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:26 [debug] Diagnostics for board 50:
2025-04-24 15:42:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:31 ago, cause: software
2025-04-24 15:42:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:26 [debug] Moves scheduled 43168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4272004140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:42:26 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17206, writes 0 timeouts 0
2025-04-24 15:42:26 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36106/37072
2025-04-24 15:42:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:27 [info] currentZPosition:0.112
2025-04-24 15:42:28 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:28 [debug] Diagnostics for board 50:
2025-04-24 15:42:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:33 ago, cause: software
2025-04-24 15:42:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:28 [debug] Moves scheduled 43172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4270938159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:42:28 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17889, writes 0 timeouts 0
2025-04-24 15:42:28 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 432, adv 35958/37102
2025-04-24 15:42:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:28 [info] currentZPosition:0.112
2025-04-24 15:42:29 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:29 [debug] Diagnostics for board 50:
2025-04-24 15:42:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:34 ago, cause: software
2025-04-24 15:42:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:29 [debug] Moves scheduled 43176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4269914355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:42:29 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17175, writes 0 timeouts 0
2025-04-24 15:42:29 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36190/37137
2025-04-24 15:42:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:29 [info] currentZPosition:0.112
2025-04-24 15:42:31 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:31 [debug] Diagnostics for board 50:
2025-04-24 15:42:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:36 ago, cause: software
2025-04-24 15:42:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:31 [debug] Moves scheduled 43180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4268835931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:42:31 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18089, writes 0 timeouts 0
2025-04-24 15:42:31 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36002/37118
2025-04-24 15:42:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9221, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:31 [info] currentZPosition:0.111
2025-04-24 15:42:32 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:32 [debug] Diagnostics for board 50:
2025-04-24 15:42:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:37 ago, cause: software
2025-04-24 15:42:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:32 [debug] Moves scheduled 43184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4267828565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:42:32 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16902, writes 0 timeouts 0
2025-04-24 15:42:32 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36312/37111
2025-04-24 15:42:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:32 [info] currentZPosition:0.112
2025-04-24 15:42:33 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:33 [debug] Diagnostics for board 50:
2025-04-24 15:42:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:38 ago, cause: software
2025-04-24 15:42:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:33 [debug] Moves scheduled 43188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4266768819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:42:33 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17792, writes 0 timeouts 0
2025-04-24 15:42:33 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36031/37098
2025-04-24 15:42:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:34 [info] currentZPosition:0.112
2025-04-24 15:42:35 [debug] Stopped at height 0.109 mm
2025-04-24 15:42:35 [debug] Diagnostics for board 50:
2025-04-24 15:42:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:40 ago, cause: software
2025-04-24 15:42:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:35 [debug] Moves scheduled 43192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4265702455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:42:35 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17889, writes 0 timeouts 0
2025-04-24 15:42:35 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36374/37145
2025-04-24 15:42:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:35 [info] currentZPosition:0.109
2025-04-24 15:42:35 [debug] Stopped at height 0.108 mm
2025-04-24 15:42:37 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:37 [debug] Diagnostics for board 50:
2025-04-24 15:42:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:41 ago, cause: software
2025-04-24 15:42:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:37 [debug] Moves scheduled 43198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4264441332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:42:37 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21162, writes 0 timeouts 0
2025-04-24 15:42:37 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36012/37112
2025-04-24 15:42:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:37 [info] currentZPosition:0.112
2025-04-24 15:42:37 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:38 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:38 [debug] Diagnostics for board 50:
2025-04-24 15:42:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:43 ago, cause: software
2025-04-24 15:42:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:38 [debug] Moves scheduled 43204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4263160510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:42:38 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21478, writes 0 timeouts 0
2025-04-24 15:42:38 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36358/37156
2025-04-24 15:42:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:38 [info] currentZPosition:0.110
2025-04-24 15:42:40 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:40 [debug] Diagnostics for board 50:
2025-04-24 15:42:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:45 ago, cause: software
2025-04-24 15:42:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:40 [debug] Moves scheduled 43208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9259, max=15306
Sync err accum 68, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4262130337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:42:40 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17286, writes 0 timeouts 0
2025-04-24 15:42:40 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35998/37113
2025-04-24 15:42:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9189, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:40 [info] currentZPosition:0.112
2025-04-24 15:42:40 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:41 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:41 [debug] Diagnostics for board 50:
2025-04-24 15:42:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:44:46 ago, cause: software
2025-04-24 15:42:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:41 [debug] Moves scheduled 43214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4260890466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:42:41 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20822, writes 0 timeouts 0
2025-04-24 15:42:41 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 406, adv 36336/37120
2025-04-24 15:42:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:41 [info] currentZPosition:0.112
2025-04-24 15:42:43 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:43 [debug] Diagnostics for board 50:
2025-04-24 15:42:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:44:48 ago, cause: software
2025-04-24 15:42:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:43 [debug] Moves scheduled 43218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 66, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4259812565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:42:43 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18079, writes 0 timeouts 0
2025-04-24 15:42:43 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36009/37129
2025-04-24 15:42:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:43 [info] currentZPosition:0.111
2025-04-24 15:42:43 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:44 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:44 [debug] Diagnostics for board 50:
2025-04-24 15:42:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:49 ago, cause: software
2025-04-24 15:42:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:44 [debug] Moves scheduled 43224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4258548193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:42:44 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21221, writes 0 timeouts 0
2025-04-24 15:42:44 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36325/37138
2025-04-24 15:42:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:45 [info] currentZPosition:0.110
2025-04-24 15:42:46 [debug] Stopped at height 0.113 mm
2025-04-24 15:42:46 [debug] Diagnostics for board 50:
2025-04-24 15:42:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:51 ago, cause: software
2025-04-24 15:42:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:46 [debug] Moves scheduled 43228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4257533129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:42:46 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17028, writes 0 timeouts 0
2025-04-24 15:42:46 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36066/37150
2025-04-24 15:42:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:46 [info] currentZPosition:0.113
2025-04-24 15:42:46 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:47 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:47 [debug] Diagnostics for board 50:
2025-04-24 15:42:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:44:52 ago, cause: software
2025-04-24 15:42:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:47 [debug] Moves scheduled 43234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4256244300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:42:47 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21630, writes 0 timeouts 0
2025-04-24 15:42:47 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36325/37118
2025-04-24 15:42:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9238, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:48 [info] currentZPosition:0.111
2025-04-24 15:42:49 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:49 [debug] Diagnostics for board 50:
2025-04-24 15:42:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:54 ago, cause: software
2025-04-24 15:42:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:49 [debug] Moves scheduled 43238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4255181047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:42:49 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17803, writes 0 timeouts 0
2025-04-24 15:42:49 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36035/37122
2025-04-24 15:42:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:49 [info] currentZPosition:0.111
2025-04-24 15:42:50 [debug] Stopped at height 0.113 mm
2025-04-24 15:42:50 [debug] Diagnostics for board 50:
2025-04-24 15:42:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:55 ago, cause: software
2025-04-24 15:42:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:50 [debug] Moves scheduled 43242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4254191691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:42:50 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16607, writes 0 timeouts 0
2025-04-24 15:42:50 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36332/37170
2025-04-24 15:42:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:50 [info] currentZPosition:0.113
2025-04-24 15:42:51 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:52 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:52 [debug] Diagnostics for board 50:
2025-04-24 15:42:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:44:57 ago, cause: software
2025-04-24 15:42:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:52 [debug] Moves scheduled 43248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4252885019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:42:52 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21930, writes 0 timeouts 0
2025-04-24 15:42:52 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36035/37170
2025-04-24 15:42:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:52 [info] currentZPosition:0.112
2025-04-24 15:42:52 [debug] Stopped at height 0.110 mm
2025-04-24 15:42:54 [debug] Stopped at height 0.113 mm
2025-04-24 15:42:54 [debug] Diagnostics for board 50:
2025-04-24 15:42:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:44:59 ago, cause: software
2025-04-24 15:42:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:54 [debug] Moves scheduled 43254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 4251637022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-24 15:42:54 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20922, writes 0 timeouts 0
2025-04-24 15:42:54 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36373/37119
2025-04-24 15:42:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:54 [info] currentZPosition:0.113
2025-04-24 15:42:54 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:55 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:55 [debug] Diagnostics for board 50:
2025-04-24 15:42:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:00 ago, cause: software
2025-04-24 15:42:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:55 [debug] Moves scheduled 43260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, next step interrupt due in 4250330200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:42:55 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21924, writes 0 timeouts 0
2025-04-24 15:42:55 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36052/37110
2025-04-24 15:42:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9205, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:55 [info] currentZPosition:0.112
2025-04-24 15:42:57 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:57 [debug] Diagnostics for board 50:
2025-04-24 15:42:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:45:02 ago, cause: software
2025-04-24 15:42:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:57 [debug] Moves scheduled 43264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4249311677 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:42:57 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17108, writes 0 timeouts 0
2025-04-24 15:42:57 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36331/37092
2025-04-24 15:42:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:57 [info] currentZPosition:0.112
2025-04-24 15:42:58 [debug] Stopped at height 0.111 mm
2025-04-24 15:42:58 [debug] Diagnostics for board 50:
2025-04-24 15:42:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:45:03 ago, cause: software
2025-04-24 15:42:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:58 [debug] Moves scheduled 43268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15306
Sync err accum 89, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4248242479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:42:58 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17927, writes 0 timeouts 0
2025-04-24 15:42:58 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36034/37103
2025-04-24 15:42:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:42:58 [info] currentZPosition:0.111
2025-04-24 15:42:59 [debug] Stopped at height 0.112 mm
2025-04-24 15:42:59 [debug] Diagnostics for board 50:
2025-04-24 15:42:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:42:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:04 ago, cause: software
2025-04-24 15:42:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:42:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:42:59 [debug] Moves scheduled 43272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 97, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4247241101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:42:59 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16803, writes 0 timeouts 0
2025-04-24 15:42:59 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36379/37170
2025-04-24 15:42:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:00 [info] currentZPosition:0.112
2025-04-24 15:43:01 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:01 [debug] Diagnostics for board 50:
2025-04-24 15:43:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:06 ago, cause: software
2025-04-24 15:43:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:01 [debug] Moves scheduled 43276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4246186242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 3
2025-04-24 15:43:01 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17740, writes 0 timeouts 0
2025-04-24 15:43:01 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36082/37119
2025-04-24 15:43:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9181, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:01 [info] currentZPosition:0.112
2025-04-24 15:43:02 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:02 [debug] Diagnostics for board 50:
2025-04-24 15:43:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:07 ago, cause: software
2025-04-24 15:43:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:02 [debug] Moves scheduled 43280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8720, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4245168762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:43:02 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17038, writes 0 timeouts 0
2025-04-24 15:43:02 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36276/37129
2025-04-24 15:43:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:02 [info] currentZPosition:0.113
2025-04-24 15:43:04 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:04 [debug] Diagnostics for board 50:
2025-04-24 15:43:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:09 ago, cause: software
2025-04-24 15:43:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:04 [debug] Moves scheduled 43284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4244102375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:43:04 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17902, writes 0 timeouts 0
2025-04-24 15:43:04 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36092/37148
2025-04-24 15:43:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:04 [info] currentZPosition:0.112
2025-04-24 15:43:05 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:05 [debug] Diagnostics for board 50:
2025-04-24 15:43:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:10 ago, cause: software
2025-04-24 15:43:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:05 [debug] Moves scheduled 43288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4243045490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:43:05 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17746, writes 0 timeouts 0
2025-04-24 15:43:05 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36324/37170
2025-04-24 15:43:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:05 [info] currentZPosition:0.110
2025-04-24 15:43:06 [debug] Stopped at height 0.108 mm
2025-04-24 15:43:06 [debug] Stopped at height 0.109 mm
2025-04-24 15:43:07 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:07 [debug] Diagnostics for board 50:
2025-04-24 15:43:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:12 ago, cause: software
2025-04-24 15:43:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:07 [debug] Moves scheduled 43296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4241541660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:43:07 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25214, writes 0 timeouts 0
2025-04-24 15:43:07 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36043/37134
2025-04-24 15:43:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9228, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:07 [info] currentZPosition:0.112
2025-04-24 15:43:08 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:09 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:09 [debug] Diagnostics for board 50:
2025-04-24 15:43:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:14 ago, cause: software
2025-04-24 15:43:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:09 [debug] Moves scheduled 43302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4240304829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:09 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20768, writes 0 timeouts 0
2025-04-24 15:43:09 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36333/37118
2025-04-24 15:43:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9095, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:09 [info] currentZPosition:0.113
2025-04-24 15:43:09 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:10 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:10 [debug] Diagnostics for board 50:
2025-04-24 15:43:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:15 ago, cause: software
2025-04-24 15:43:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:10 [debug] Moves scheduled 43308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4239002192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:43:10 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21866, writes 0 timeouts 0
2025-04-24 15:43:10 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36059/37138
2025-04-24 15:43:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:11 [info] currentZPosition:0.113
2025-04-24 15:43:11 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:12 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:12 [debug] Diagnostics for board 50:
2025-04-24 15:43:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:45:17 ago, cause: software
2025-04-24 15:43:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:12 [debug] Moves scheduled 43314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 84, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4237720755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:43:12 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21472, writes 0 timeouts 0
2025-04-24 15:43:12 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36299/37121
2025-04-24 15:43:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:12 [info] currentZPosition:0.112
2025-04-24 15:43:14 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:14 [debug] Diagnostics for board 50:
2025-04-24 15:43:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:18 ago, cause: software
2025-04-24 15:43:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:14 [debug] Moves scheduled 43318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4236683608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:43:14 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17411, writes 0 timeouts 0
2025-04-24 15:43:14 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36003/37105
2025-04-24 15:43:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:14 [info] currentZPosition:0.113
2025-04-24 15:43:15 [debug] Stopped at height 0.114 mm
2025-04-24 15:43:15 [debug] Diagnostics for board 50:
2025-04-24 15:43:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:45:20 ago, cause: software
2025-04-24 15:43:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:15 [debug] Moves scheduled 43322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4235675027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:43:15 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16941, writes 0 timeouts 0
2025-04-24 15:43:15 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36338/37119
2025-04-24 15:43:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:15 [info] currentZPosition:0.114
2025-04-24 15:43:16 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:16 [debug] Diagnostics for board 50:
2025-04-24 15:43:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:45:21 ago, cause: software
2025-04-24 15:43:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:16 [debug] Moves scheduled 43326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter 1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4234604276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:43:16 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17968, writes 0 timeouts 0
2025-04-24 15:43:16 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36071/37113
2025-04-24 15:43:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:16 [info] currentZPosition:0.113
2025-04-24 15:43:18 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:18 [debug] Diagnostics for board 50:
2025-04-24 15:43:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:45:23 ago, cause: software
2025-04-24 15:43:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:18 [debug] Moves scheduled 43330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 111, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4233564023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:43:18 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17477, writes 0 timeouts 0
2025-04-24 15:43:18 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36351/37092
2025-04-24 15:43:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9224, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:18 [info] currentZPosition:0.112
2025-04-24 15:43:19 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:19 [debug] Diagnostics for board 50:
2025-04-24 15:43:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:24 ago, cause: software
2025-04-24 15:43:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:19 [debug] Moves scheduled 43334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4232515568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:43:19 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17567, writes 0 timeouts 0
2025-04-24 15:43:19 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36010/37099
2025-04-24 15:43:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:19 [info] currentZPosition:0.113
2025-04-24 15:43:21 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:21 [debug] Diagnostics for board 50:
2025-04-24 15:43:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:25 ago, cause: software
2025-04-24 15:43:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:21 [debug] Moves scheduled 43338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 108, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4231463888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:43:21 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17647, writes 0 timeouts 0
2025-04-24 15:43:21 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36314/37169
2025-04-24 15:43:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:21 [info] currentZPosition:0.111
2025-04-24 15:43:21 [debug] Stopped at height 0.109 mm
2025-04-24 15:43:21 [debug] Stopped at height 0.109 mm
2025-04-24 15:43:23 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:23 [debug] Diagnostics for board 50:
2025-04-24 15:43:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:28 ago, cause: software
2025-04-24 15:43:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:23 [debug] Moves scheduled 43346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4229904476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:23 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26165, writes 0 timeouts 0
2025-04-24 15:43:23 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36039/37134
2025-04-24 15:43:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:23 [info] currentZPosition:0.110
2025-04-24 15:43:24 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:24 [debug] Diagnostics for board 50:
2025-04-24 15:43:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:29 ago, cause: software
2025-04-24 15:43:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:24 [debug] Moves scheduled 43350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4228899507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:43:24 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16858, writes 0 timeouts 0
2025-04-24 15:43:24 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36406/37079
2025-04-24 15:43:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:24 [info] currentZPosition:0.111
2025-04-24 15:43:25 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:25 [debug] Diagnostics for board 50:
2025-04-24 15:43:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:45:30 ago, cause: software
2025-04-24 15:43:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:25 [debug] Moves scheduled 43354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4227844159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:25 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17709, writes 0 timeouts 0
2025-04-24 15:43:25 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36081/37116
2025-04-24 15:43:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:25 [info] currentZPosition:0.111
2025-04-24 15:43:27 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:27 [debug] Diagnostics for board 50:
2025-04-24 15:43:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:32 ago, cause: software
2025-04-24 15:43:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:27 [debug] Moves scheduled 43358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4226832880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:27 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16947, writes 0 timeouts 0
2025-04-24 15:43:27 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36217/37140
2025-04-24 15:43:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9239, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:27 [info] currentZPosition:0.111
2025-04-24 15:43:28 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:28 [debug] Diagnostics for board 50:
2025-04-24 15:43:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:33 ago, cause: software
2025-04-24 15:43:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:28 [debug] Moves scheduled 43362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -3/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4225774672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:43:28 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17764, writes 0 timeouts 0
2025-04-24 15:43:28 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36025/37080
2025-04-24 15:43:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:28 [info] currentZPosition:0.111
2025-04-24 15:43:29 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:29 [debug] Diagnostics for board 50:
2025-04-24 15:43:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:45:34 ago, cause: software
2025-04-24 15:43:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:29 [debug] Moves scheduled 43366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4224783623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:43:29 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16614, writes 0 timeouts 0
2025-04-24 15:43:29 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36070/37116
2025-04-24 15:43:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9106, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:30 [info] currentZPosition:0.113
2025-04-24 15:43:30 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:30 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:32 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:32 [debug] Diagnostics for board 50:
2025-04-24 15:43:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:36 ago, cause: software
2025-04-24 15:43:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:32 [debug] Moves scheduled 43374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4223209280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:43:32 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26429, writes 0 timeouts 0
2025-04-24 15:43:32 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36000/37101
2025-04-24 15:43:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:32 [info] currentZPosition:0.111
2025-04-24 15:43:32 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:33 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:33 [debug] Diagnostics for board 50:
2025-04-24 15:43:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:38 ago, cause: software
2025-04-24 15:43:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:33 [debug] Moves scheduled 43380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4221975965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:43:33 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20706, writes 0 timeouts 0
2025-04-24 15:43:33 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36075/37163
2025-04-24 15:43:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:33 [info] currentZPosition:0.112
2025-04-24 15:43:34 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:35 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:35 [debug] Diagnostics for board 50:
2025-04-24 15:43:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:40 ago, cause: software
2025-04-24 15:43:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:35 [debug] Moves scheduled 43386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4220690539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:43:35 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21566, writes 0 timeouts 0
2025-04-24 15:43:35 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36097/37140
2025-04-24 15:43:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:35 [info] currentZPosition:0.113
2025-04-24 15:43:35 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:37 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:37 [debug] Diagnostics for board 50:
2025-04-24 15:43:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:41 ago, cause: software
2025-04-24 15:43:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:37 [debug] Moves scheduled 43392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4219442840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:43:37 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20928, writes 0 timeouts 0
2025-04-24 15:43:37 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36132/37127
2025-04-24 15:43:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:37 [info] currentZPosition:0.113
2025-04-24 15:43:37 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:38 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:38 [debug] Diagnostics for board 50:
2025-04-24 15:43:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:43 ago, cause: software
2025-04-24 15:43:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:38 [debug] Moves scheduled 43398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4218155371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:43:38 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21593, writes 0 timeouts 0
2025-04-24 15:43:38 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36068/37120
2025-04-24 15:43:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:38 [info] currentZPosition:0.113
2025-04-24 15:43:39 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:40 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:40 [debug] Diagnostics for board 50:
2025-04-24 15:43:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:45 ago, cause: software
2025-04-24 15:43:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:40 [debug] Moves scheduled 43404, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -1/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4216895554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:40 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21159, writes 0 timeouts 0
2025-04-24 15:43:40 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36096/37148
2025-04-24 15:43:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:40 [info] currentZPosition:0.113
2025-04-24 15:43:41 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:41 [debug] Diagnostics for board 50:
2025-04-24 15:43:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:46 ago, cause: software
2025-04-24 15:43:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:41 [debug] Moves scheduled 43408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4215845132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:43:41 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17609, writes 0 timeouts 0
2025-04-24 15:43:41 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36047/37125
2025-04-24 15:43:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:41 [info] currentZPosition:0.113
2025-04-24 15:43:43 [debug] Stopped at height 0.112 mm
2025-04-24 15:43:43 [debug] Diagnostics for board 50:
2025-04-24 15:43:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:48 ago, cause: software
2025-04-24 15:43:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:43 [debug] Moves scheduled 43412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4214792260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:43:43 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17683, writes 0 timeouts 0
2025-04-24 15:43:43 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36132/37166
2025-04-24 15:43:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:43 [info] currentZPosition:0.112
2025-04-24 15:43:43 [debug] Stopped at height 0.109 mm
2025-04-24 15:43:44 [debug] Stopped at height 0.109 mm
2025-04-24 15:43:45 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:45 [debug] Diagnostics for board 50:
2025-04-24 15:43:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:50 ago, cause: software
2025-04-24 15:43:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:45 [debug] Moves scheduled 43420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 83, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4213278491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:43:45 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25425, writes 0 timeouts 0
2025-04-24 15:43:45 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36005/37151
2025-04-24 15:43:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:45 [info] currentZPosition:0.113
2025-04-24 15:43:45 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:46 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:46 [debug] Diagnostics for board 50:
2025-04-24 15:43:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:51 ago, cause: software
2025-04-24 15:43:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:46 [debug] Moves scheduled 43426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 98, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4212006971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:43:46 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21301, writes 0 timeouts 0
2025-04-24 15:43:46 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36095/37094
2025-04-24 15:43:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9174, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:47 [info] currentZPosition:0.113
2025-04-24 15:43:48 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:48 [debug] Diagnostics for board 50:
2025-04-24 15:43:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:53 ago, cause: software
2025-04-24 15:43:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:48 [debug] Moves scheduled 43430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 108, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4210908024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:43:48 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18443, writes 0 timeouts 0
2025-04-24 15:43:48 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36016/37131
2025-04-24 15:43:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:48 [info] currentZPosition:0.111
2025-04-24 15:43:48 [debug] Stopped at height 0.109 mm
2025-04-24 15:43:50 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:50 [debug] Diagnostics for board 50:
2025-04-24 15:43:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:54 ago, cause: software
2025-04-24 15:43:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:50 [debug] Moves scheduled 43436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 114, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4209682842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:43:50 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20584, writes 0 timeouts 0
2025-04-24 15:43:50 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36112/37119
2025-04-24 15:43:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:50 [info] currentZPosition:0.113
2025-04-24 15:43:50 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:51 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:51 [debug] Diagnostics for board 50:
2025-04-24 15:43:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:45:56 ago, cause: software
2025-04-24 15:43:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:51 [debug] Moves scheduled 43442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 117, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4208386539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:43:51 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21717, writes 0 timeouts 0
2025-04-24 15:43:51 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36029/37108
2025-04-24 15:43:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:51 [info] currentZPosition:0.113
2025-04-24 15:43:53 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:53 [debug] Diagnostics for board 50:
2025-04-24 15:43:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:45:58 ago, cause: software
2025-04-24 15:43:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:53 [debug] Moves scheduled 43446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9868, max=15000
Sync err accum 118, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4207312550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:43:53 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18007, writes 0 timeouts 0
2025-04-24 15:43:53 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36114/37105
2025-04-24 15:43:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:53 [info] currentZPosition:0.110
2025-04-24 15:43:53 [debug] Stopped at height 0.110 mm
2025-04-24 15:43:54 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:54 [debug] Diagnostics for board 50:
2025-04-24 15:43:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:45:59 ago, cause: software
2025-04-24 15:43:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:54 [debug] Moves scheduled 43452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4206059311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:54 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21035, writes 0 timeouts 0
2025-04-24 15:43:54 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36025/37157
2025-04-24 15:43:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:55 [info] currentZPosition:0.113
2025-04-24 15:43:55 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:56 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:56 [debug] Diagnostics for board 50:
2025-04-24 15:43:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:01 ago, cause: software
2025-04-24 15:43:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:56 [debug] Moves scheduled 43458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 112, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4204784262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:56 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21403, writes 0 timeouts 0
2025-04-24 15:43:56 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36088/37121
2025-04-24 15:43:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:56 [info] currentZPosition:0.111
2025-04-24 15:43:57 [debug] Stopped at height 0.113 mm
2025-04-24 15:43:57 [debug] Diagnostics for board 50:
2025-04-24 15:43:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:46:02 ago, cause: software
2025-04-24 15:43:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:57 [debug] Moves scheduled 43462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4203751982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:57 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17307, writes 0 timeouts 0
2025-04-24 15:43:57 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36062/37126
2025-04-24 15:43:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:58 [info] currentZPosition:0.113
2025-04-24 15:43:58 [debug] Stopped at height 0.111 mm
2025-04-24 15:43:59 [debug] Stopped at height 0.114 mm
2025-04-24 15:43:59 [debug] Diagnostics for board 50:
2025-04-24 15:43:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:43:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:46:04 ago, cause: software
2025-04-24 15:43:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:43:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:43:59 [debug] Moves scheduled 43468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 92, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4202515413 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:43:59 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20737, writes 0 timeouts 0
2025-04-24 15:43:59 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36162/37169
2025-04-24 15:43:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:43:59 [info] currentZPosition:0.114
2025-04-24 15:44:00 [debug] Stopped at height 0.111 mm
2025-04-24 15:44:01 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:01 [debug] Diagnostics for board 50:
2025-04-24 15:44:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:06 ago, cause: software
2025-04-24 15:44:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:01 [debug] Moves scheduled 43474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 74, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4201227060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:44:01 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21628, writes 0 timeouts 0
2025-04-24 15:44:01 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36047/37091
2025-04-24 15:44:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:01 [info] currentZPosition:0.114
2025-04-24 15:44:01 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:03 [debug] Stopped at height 0.111 mm
2025-04-24 15:44:03 [debug] Diagnostics for board 50:
2025-04-24 15:44:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:46:08 ago, cause: software
2025-04-24 15:44:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:03 [debug] Moves scheduled 43480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -4/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4199908777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:44:03 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22105, writes 0 timeouts 0
2025-04-24 15:44:03 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36059/37140
2025-04-24 15:44:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:03 [info] currentZPosition:0.111
2025-04-24 15:44:03 [debug] Stopped at height 0.110 mm
2025-04-24 15:44:04 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:04 [debug] Diagnostics for board 50:
2025-04-24 15:44:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:09 ago, cause: software
2025-04-24 15:44:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:04 [debug] Moves scheduled 43486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4198645988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:44:04 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21201, writes 0 timeouts 0
2025-04-24 15:44:04 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36104/37117
2025-04-24 15:44:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:04 [info] currentZPosition:0.113
2025-04-24 15:44:05 [debug] Stopped at height 0.112 mm
2025-04-24 15:44:06 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:06 [debug] Diagnostics for board 50:
2025-04-24 15:44:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:11 ago, cause: software
2025-04-24 15:44:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:06 [debug] Moves scheduled 43492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 89, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4197398282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:44:06 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20937, writes 0 timeouts 0
2025-04-24 15:44:06 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36056/37136
2025-04-24 15:44:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:06 [info] currentZPosition:0.114
2025-04-24 15:44:06 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:08 [debug] Stopped at height 0.115 mm
2025-04-24 15:44:08 [debug] Diagnostics for board 50:
2025-04-24 15:44:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:13 ago, cause: software
2025-04-24 15:44:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:08 [debug] Moves scheduled 43498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4196124964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:44:08 [debug] Driver 0: pos -3516, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21367, writes 0 timeouts 0
2025-04-24 15:44:08 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36044/37155
2025-04-24 15:44:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9132, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:08 [info] currentZPosition:0.115
2025-04-24 15:44:08 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:09 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:09 [debug] Diagnostics for board 50:
2025-04-24 15:44:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:14 ago, cause: software
2025-04-24 15:44:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:09 [debug] Moves scheduled 43504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4194851648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:09 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21390, writes 0 timeouts 0
2025-04-24 15:44:09 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36144/37125
2025-04-24 15:44:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:09 [info] currentZPosition:0.114
2025-04-24 15:44:10 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:11 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:11 [debug] Diagnostics for board 50:
2025-04-24 15:44:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:16 ago, cause: software
2025-04-24 15:44:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:11 [debug] Moves scheduled 43510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4193558943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:11 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21678, writes 0 timeouts 0
2025-04-24 15:44:11 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36043/37118
2025-04-24 15:44:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:11 [info] currentZPosition:0.114
2025-04-24 15:44:12 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:12 [debug] Diagnostics for board 50:
2025-04-24 15:44:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:17 ago, cause: software
2025-04-24 15:44:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:12 [debug] Moves scheduled 43514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4192529013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:44:12 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17266, writes 0 timeouts 0
2025-04-24 15:44:12 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36100/37135
2025-04-24 15:44:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:13 [info] currentZPosition:0.114
2025-04-24 15:44:14 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:14 [debug] Diagnostics for board 50:
2025-04-24 15:44:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:46:19 ago, cause: software
2025-04-24 15:44:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:14 [debug] Moves scheduled 43518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4191471613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:44:14 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17757, writes 0 timeouts 0
2025-04-24 15:44:14 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36089/37105
2025-04-24 15:44:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:14 [info] currentZPosition:0.113
2025-04-24 15:44:15 [debug] Stopped at height 0.112 mm
2025-04-24 15:44:15 [debug] Diagnostics for board 50:
2025-04-24 15:44:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:46:20 ago, cause: software
2025-04-24 15:44:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:15 [debug] Moves scheduled 43522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4190428705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:44:15 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17534, writes 0 timeouts 0
2025-04-24 15:44:15 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36072/37144
2025-04-24 15:44:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:15 [info] currentZPosition:0.112
2025-04-24 15:44:16 [debug] Stopped at height 0.110 mm
2025-04-24 15:44:16 [debug] Stopped at height 0.109 mm
2025-04-24 15:44:17 [debug] Stopped at height 0.112 mm
2025-04-24 15:44:17 [debug] Diagnostics for board 50:
2025-04-24 15:44:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:22 ago, cause: software
2025-04-24 15:44:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:17 [debug] Moves scheduled 43530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4188892525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:44:17 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25742, writes 0 timeouts 0
2025-04-24 15:44:17 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36035/37122
2025-04-24 15:44:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:17 [info] currentZPosition:0.112
2025-04-24 15:44:18 [debug] Stopped at height 0.111 mm
2025-04-24 15:44:19 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:19 [debug] Diagnostics for board 50:
2025-04-24 15:44:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:46:24 ago, cause: software
2025-04-24 15:44:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:19 [debug] Moves scheduled 43536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4187674165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:44:19 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20475, writes 0 timeouts 0
2025-04-24 15:44:19 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 413, adv 36082/37122
2025-04-24 15:44:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9122, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:19 [info] currentZPosition:0.114
2025-04-24 15:44:19 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:21 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:21 [debug] Diagnostics for board 50:
2025-04-24 15:44:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:26 ago, cause: software
2025-04-24 15:44:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:21 [debug] Moves scheduled 43542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 94, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4186380152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:44:21 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21728, writes 0 timeouts 0
2025-04-24 15:44:21 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36023/37157
2025-04-24 15:44:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:21 [info] currentZPosition:0.114
2025-04-24 15:44:22 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:22 [debug] Diagnostics for board 50:
2025-04-24 15:44:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:27 ago, cause: software
2025-04-24 15:44:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:22 [debug] Moves scheduled 43546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4185345517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:44:22 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17342, writes 0 timeouts 0
2025-04-24 15:44:22 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36113/37169
2025-04-24 15:44:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:22 [info] currentZPosition:0.114
2025-04-24 15:44:23 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:23 [debug] Diagnostics for board 50:
2025-04-24 15:44:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:28 ago, cause: software
2025-04-24 15:44:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:23 [debug] Moves scheduled 43550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4184294030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:23 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17642, writes 0 timeouts 0
2025-04-24 15:44:23 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36005/37129
2025-04-24 15:44:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9152, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:24 [info] currentZPosition:0.114
2025-04-24 15:44:25 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:25 [debug] Diagnostics for board 50:
2025-04-24 15:44:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:30 ago, cause: software
2025-04-24 15:44:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:25 [debug] Moves scheduled 43554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4183274493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:44:25 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17132, writes 0 timeouts 0
2025-04-24 15:44:25 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36065/37145
2025-04-24 15:44:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:25 [info] currentZPosition:0.114
2025-04-24 15:44:26 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:26 [debug] Diagnostics for board 50:
2025-04-24 15:44:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:31 ago, cause: software
2025-04-24 15:44:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:26 [debug] Moves scheduled 43558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 82, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4182199003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:44:26 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18059, writes 0 timeouts 0
2025-04-24 15:44:26 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36036/37122
2025-04-24 15:44:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:26 [info] currentZPosition:0.113
2025-04-24 15:44:28 [debug] Stopped at height 0.112 mm
2025-04-24 15:44:28 [debug] Diagnostics for board 50:
2025-04-24 15:44:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:33 ago, cause: software
2025-04-24 15:44:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:28 [debug] Moves scheduled 43562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4181158597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:44:28 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17424, writes 0 timeouts 0
2025-04-24 15:44:28 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36181/37139
2025-04-24 15:44:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:28 [info] currentZPosition:0.112
2025-04-24 15:44:29 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:29 [debug] Diagnostics for board 50:
2025-04-24 15:44:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:46:34 ago, cause: software
2025-04-24 15:44:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:29 [debug] Moves scheduled 43566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4180143366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:44:29 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17049, writes 0 timeouts 0
2025-04-24 15:44:29 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36049/37119
2025-04-24 15:44:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:29 [info] currentZPosition:0.114
2025-04-24 15:44:29 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:31 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:31 [debug] Diagnostics for board 50:
2025-04-24 15:44:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:36 ago, cause: software
2025-04-24 15:44:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:31 [debug] Moves scheduled 43572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4178874601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:44:31 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21280, writes 0 timeouts 0
2025-04-24 15:44:31 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36315/37084
2025-04-24 15:44:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:31 [info] currentZPosition:0.114
2025-04-24 15:44:32 [debug] Stopped at height 0.115 mm
2025-04-24 15:44:32 [debug] Diagnostics for board 50:
2025-04-24 15:44:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:37 ago, cause: software
2025-04-24 15:44:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:32 [debug] Moves scheduled 43576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4177819543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:44:32 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17703, writes 0 timeouts 0
2025-04-24 15:44:32 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36013/37166
2025-04-24 15:44:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9153, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:32 [info] currentZPosition:0.115
2025-04-24 15:44:33 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:33 [debug] Diagnostics for board 50:
2025-04-24 15:44:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:38 ago, cause: software
2025-04-24 15:44:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:33 [debug] Moves scheduled 43580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8823, max=15000
Sync err accum 89, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4176777170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:44:33 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17517, writes 0 timeouts 0
2025-04-24 15:44:33 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36350/37113
2025-04-24 15:44:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:34 [info] currentZPosition:0.114
2025-04-24 15:44:35 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:35 [debug] Diagnostics for board 50:
2025-04-24 15:44:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:46:40 ago, cause: software
2025-04-24 15:44:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:35 [debug] Moves scheduled 43584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4175729001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:35 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17573, writes 0 timeouts 0
2025-04-24 15:44:35 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36065/37137
2025-04-24 15:44:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:35 [info] currentZPosition:0.114
2025-04-24 15:44:36 [debug] Stopped at height 0.112 mm
2025-04-24 15:44:36 [debug] Diagnostics for board 50:
2025-04-24 15:44:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:41 ago, cause: software
2025-04-24 15:44:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:36 [debug] Moves scheduled 43588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4174668635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:44:36 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17790, writes 0 timeouts 0
2025-04-24 15:44:36 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36293/37137
2025-04-24 15:44:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:36 [info] currentZPosition:0.112
2025-04-24 15:44:37 [debug] Stopped at height 0.110 mm
2025-04-24 15:44:38 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:38 [debug] Diagnostics for board 50:
2025-04-24 15:44:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:43 ago, cause: software
2025-04-24 15:44:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:38 [debug] Moves scheduled 43594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 82, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4173394058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:38 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21378, writes 0 timeouts 0
2025-04-24 15:44:38 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36011/37119
2025-04-24 15:44:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:38 [info] currentZPosition:0.114
2025-04-24 15:44:38 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:40 [debug] Stopped at height 0.115 mm
2025-04-24 15:44:40 [debug] Diagnostics for board 50:
2025-04-24 15:44:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:45 ago, cause: software
2025-04-24 15:44:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:40 [debug] Moves scheduled 43600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 4172155743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:44:40 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20772, writes 0 timeouts 0
2025-04-24 15:44:40 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36306/37173
2025-04-24 15:44:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9101, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:40 [info] currentZPosition:0.115
2025-04-24 15:44:41 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:41 [debug] Diagnostics for board 50:
2025-04-24 15:44:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:46:46 ago, cause: software
2025-04-24 15:44:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:41 [debug] Moves scheduled 43604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4171062066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:44:41 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18356, writes 0 timeouts 0
2025-04-24 15:44:41 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36076/37154
2025-04-24 15:44:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:41 [info] currentZPosition:0.113
2025-04-24 15:44:42 [debug] Stopped at height 0.110 mm
2025-04-24 15:44:42 [debug] Stopped at height 0.109 mm
2025-04-24 15:44:43 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:43 [debug] Diagnostics for board 50:
2025-04-24 15:44:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:48 ago, cause: software
2025-04-24 15:44:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:43 [debug] Moves scheduled 43612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 69, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4169558316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:43 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25244, writes 0 timeouts 0
2025-04-24 15:44:43 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36295/37135
2025-04-24 15:44:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:43 [info] currentZPosition:0.113
2025-04-24 15:44:44 [debug] Stopped at height 0.111 mm
2025-04-24 15:44:45 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:45 [debug] Diagnostics for board 50:
2025-04-24 15:44:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:50 ago, cause: software
2025-04-24 15:44:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:45 [debug] Moves scheduled 43618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4168253516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:44:45 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21875, writes 0 timeouts 0
2025-04-24 15:44:45 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36089/37104
2025-04-24 15:44:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:45 [info] currentZPosition:0.113
2025-04-24 15:44:46 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:46 [debug] Diagnostics for board 50:
2025-04-24 15:44:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:51 ago, cause: software
2025-04-24 15:44:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:46 [debug] Moves scheduled 43622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4167237637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:46 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17038, writes 0 timeouts 0
2025-04-24 15:44:46 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36366/37106
2025-04-24 15:44:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9231, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:46 [info] currentZPosition:0.113
2025-04-24 15:44:48 [debug] Stopped at height 0.115 mm
2025-04-24 15:44:48 [debug] Diagnostics for board 50:
2025-04-24 15:44:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:46:52 ago, cause: software
2025-04-24 15:44:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:48 [debug] Moves scheduled 43626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4166211005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:48 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17241, writes 0 timeouts 0
2025-04-24 15:44:48 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36026/37118
2025-04-24 15:44:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:48 [info] currentZPosition:0.115
2025-04-24 15:44:48 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:49 [debug] Stopped at height 0.115 mm
2025-04-24 15:44:49 [debug] Diagnostics for board 50:
2025-04-24 15:44:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:54 ago, cause: software
2025-04-24 15:44:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:49 [debug] Moves scheduled 43632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4164950861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:49 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21128, writes 0 timeouts 0
2025-04-24 15:44:49 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36310/37125
2025-04-24 15:44:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:49 [info] currentZPosition:0.115
2025-04-24 15:44:50 [debug] Stopped at height 0.115 mm
2025-04-24 15:44:51 [debug] Stopped at height 0.115 mm
2025-04-24 15:44:51 [debug] Diagnostics for board 50:
2025-04-24 15:44:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:56 ago, cause: software
2025-04-24 15:44:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:51 [debug] Moves scheduled 43638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4163644808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:44:51 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21920, writes 0 timeouts 0
2025-04-24 15:44:51 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35997/37162
2025-04-24 15:44:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9111, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:51 [info] currentZPosition:0.115
2025-04-24 15:44:52 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:52 [debug] Diagnostics for board 50:
2025-04-24 15:44:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:46:57 ago, cause: software
2025-04-24 15:44:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:52 [debug] Moves scheduled 43642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4162604096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:44:52 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17469, writes 0 timeouts 0
2025-04-24 15:44:52 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36322/37099
2025-04-24 15:44:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:52 [info] currentZPosition:0.114
2025-04-24 15:44:54 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:54 [debug] Diagnostics for board 50:
2025-04-24 15:44:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:46:59 ago, cause: software
2025-04-24 15:44:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:54 [debug] Moves scheduled 43646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4161519678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:44:54 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18182, writes 0 timeouts 0
2025-04-24 15:44:54 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36054/37116
2025-04-24 15:44:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:54 [info] currentZPosition:0.113
2025-04-24 15:44:54 [debug] Stopped at height 0.112 mm
2025-04-24 15:44:55 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:55 [debug] Diagnostics for board 50:
2025-04-24 15:44:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:00 ago, cause: software
2025-04-24 15:44:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:55 [debug] Moves scheduled 43652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4160281541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:44:55 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20798, writes 0 timeouts 0
2025-04-24 15:44:55 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36315/37091
2025-04-24 15:44:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:56 [info] currentZPosition:0.114
2025-04-24 15:44:56 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:57 [debug] Stopped at height 0.114 mm
2025-04-24 15:44:57 [debug] Diagnostics for board 50:
2025-04-24 15:44:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:02 ago, cause: software
2025-04-24 15:44:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:57 [debug] Moves scheduled 43658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4158996482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:44:57 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21546, writes 0 timeouts 0
2025-04-24 15:44:57 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35995/37136
2025-04-24 15:44:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:57 [info] currentZPosition:0.114
2025-04-24 15:44:58 [debug] Stopped at height 0.112 mm
2025-04-24 15:44:59 [debug] Stopped at height 0.113 mm
2025-04-24 15:44:59 [debug] Diagnostics for board 50:
2025-04-24 15:44:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:44:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:04 ago, cause: software
2025-04-24 15:44:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:44:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:44:59 [debug] Moves scheduled 43664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4157725235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:44:59 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21323, writes 0 timeouts 0
2025-04-24 15:44:59 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36350/37163
2025-04-24 15:44:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:44:59 [info] currentZPosition:0.113
2025-04-24 15:44:59 [debug] Stopped at height 0.112 mm
2025-04-24 15:45:01 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:01 [debug] Diagnostics for board 50:
2025-04-24 15:45:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:47:05 ago, cause: software
2025-04-24 15:45:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:01 [debug] Moves scheduled 43670, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4156456210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:45:01 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21306, writes 0 timeouts 0
2025-04-24 15:45:01 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36064/37089
2025-04-24 15:45:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9189, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:01 [info] currentZPosition:0.115
2025-04-24 15:45:01 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:02 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:02 [debug] Diagnostics for board 50:
2025-04-24 15:45:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:07 ago, cause: software
2025-04-24 15:45:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:02 [debug] Moves scheduled 43676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4155193353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:45:02 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21178, writes 0 timeouts 0
2025-04-24 15:45:02 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36352/37132
2025-04-24 15:45:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:02 [info] currentZPosition:0.114
2025-04-24 15:45:03 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:04 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:04 [debug] Diagnostics for board 50:
2025-04-24 15:45:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:09 ago, cause: software
2025-04-24 15:45:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:04 [debug] Moves scheduled 43682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=8928, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4153897481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:45:04 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21758, writes 0 timeouts 0
2025-04-24 15:45:04 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 437, adv 36036/37122
2025-04-24 15:45:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:04 [info] currentZPosition:0.114
2025-04-24 15:45:05 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:05 [debug] Diagnostics for board 50:
2025-04-24 15:45:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:10 ago, cause: software
2025-04-24 15:45:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:05 [debug] Moves scheduled 43686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4152893053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:05 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16829, writes 0 timeouts 0
2025-04-24 15:45:05 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36382/37119
2025-04-24 15:45:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:05 [info] currentZPosition:0.114
2025-04-24 15:45:07 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:07 [debug] Diagnostics for board 50:
2025-04-24 15:45:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:12 ago, cause: software
2025-04-24 15:45:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:07 [debug] Moves scheduled 43690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4151815495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:45:07 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18082, writes 0 timeouts 0
2025-04-24 15:45:07 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36054/37149
2025-04-24 15:45:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:07 [info] currentZPosition:0.113
2025-04-24 15:45:08 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:08 [debug] Diagnostics for board 50:
2025-04-24 15:45:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:13 ago, cause: software
2025-04-24 15:45:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:08 [debug] Moves scheduled 43694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 85, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4150822006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:45:08 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16709, writes 0 timeouts 0
2025-04-24 15:45:08 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36319/37119
2025-04-24 15:45:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:08 [info] currentZPosition:0.115
2025-04-24 15:45:09 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:10 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:10 [debug] Diagnostics for board 50:
2025-04-24 15:45:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:15 ago, cause: software
2025-04-24 15:45:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:10 [debug] Moves scheduled 43700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9615, max=15306
Sync err accum 75, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4149539510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:45:10 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21483, writes 0 timeouts 0
2025-04-24 15:45:10 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36023/37119
2025-04-24 15:45:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9115, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:10 [info] currentZPosition:0.115
2025-04-24 15:45:10 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:11 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:11 [debug] Diagnostics for board 50:
2025-04-24 15:45:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:16 ago, cause: software
2025-04-24 15:45:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:11 [debug] Moves scheduled 43706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4148256681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:45:11 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21521, writes 0 timeouts 0
2025-04-24 15:45:11 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36311/37117
2025-04-24 15:45:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:12 [info] currentZPosition:0.114
2025-04-24 15:45:13 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:13 [debug] Diagnostics for board 50:
2025-04-24 15:45:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:18 ago, cause: software
2025-04-24 15:45:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:13 [debug] Moves scheduled 43710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4147191825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:45:13 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17896, writes 0 timeouts 0
2025-04-24 15:45:13 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36040/37112
2025-04-24 15:45:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:13 [info] currentZPosition:0.113
2025-04-24 15:45:14 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:14 [debug] Diagnostics for board 50:
2025-04-24 15:45:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:19 ago, cause: software
2025-04-24 15:45:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:14 [debug] Moves scheduled 43714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4146176300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:45:14 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16993, writes 0 timeouts 0
2025-04-24 15:45:14 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36322/37119
2025-04-24 15:45:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9242, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:14 [info] currentZPosition:0.114
2025-04-24 15:45:16 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:16 [debug] Diagnostics for board 50:
2025-04-24 15:45:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:21 ago, cause: software
2025-04-24 15:45:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:16 [debug] Moves scheduled 43718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4145135512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:45:16 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17464, writes 0 timeouts 0
2025-04-24 15:45:16 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 420, adv 35991/37118
2025-04-24 15:45:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:16 [info] currentZPosition:0.115
2025-04-24 15:45:17 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:17 [debug] Diagnostics for board 50:
2025-04-24 15:45:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:22 ago, cause: software
2025-04-24 15:45:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:17 [debug] Moves scheduled 43722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15306
Sync err accum 87, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4144107410 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:17 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17272, writes 0 timeouts 0
2025-04-24 15:45:17 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36312/37108
2025-04-24 15:45:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9204, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:17 [info] currentZPosition:0.114
2025-04-24 15:45:18 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:18 [debug] Diagnostics for board 50:
2025-04-24 15:45:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:23 ago, cause: software
2025-04-24 15:45:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:18 [debug] Moves scheduled 43726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4143033535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:45:18 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18008, writes 0 timeouts 0
2025-04-24 15:45:18 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36047/37137
2025-04-24 15:45:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:19 [info] currentZPosition:0.114
2025-04-24 15:45:20 [debug] Stopped at height 0.116 mm
2025-04-24 15:45:20 [debug] Diagnostics for board 50:
2025-04-24 15:45:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:25 ago, cause: software
2025-04-24 15:45:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:20 [debug] Moves scheduled 43730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 4142042147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:20 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16632, writes 0 timeouts 0
2025-04-24 15:45:20 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36342/37103
2025-04-24 15:45:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:20 [info] currentZPosition:0.116
2025-04-24 15:45:20 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:21 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:21 [debug] Diagnostics for board 50:
2025-04-24 15:45:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:26 ago, cause: software
2025-04-24 15:45:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:21 [debug] Moves scheduled 43736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4140745837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:21 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21778, writes 0 timeouts 0
2025-04-24 15:45:21 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36022/37119
2025-04-24 15:45:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:22 [info] currentZPosition:0.115
2025-04-24 15:45:22 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:23 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:23 [debug] Diagnostics for board 50:
2025-04-24 15:45:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:28 ago, cause: software
2025-04-24 15:45:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:23 [debug] Moves scheduled 43742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 76, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4139487180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:23 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21084, writes 0 timeouts 0
2025-04-24 15:45:23 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 407, adv 36287/37122
2025-04-24 15:45:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9133, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:23 [info] currentZPosition:0.115
2025-04-24 15:45:25 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:25 [debug] Diagnostics for board 50:
2025-04-24 15:45:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:29 ago, cause: software
2025-04-24 15:45:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:25 [debug] Moves scheduled 43746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4138423386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:45:25 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17829, writes 0 timeouts 0
2025-04-24 15:45:25 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36033/37123
2025-04-24 15:45:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9199, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:25 [info] currentZPosition:0.115
2025-04-24 15:45:26 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:26 [debug] Diagnostics for board 50:
2025-04-24 15:45:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:31 ago, cause: software
2025-04-24 15:45:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:26 [debug] Moves scheduled 43750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4137384955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:26 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17425, writes 0 timeouts 0
2025-04-24 15:45:26 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36206/37122
2025-04-24 15:45:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9241, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:26 [info] currentZPosition:0.114
2025-04-24 15:45:27 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:27 [debug] Diagnostics for board 50:
2025-04-24 15:45:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:32 ago, cause: software
2025-04-24 15:45:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:27 [debug] Moves scheduled 43754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 225, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4136319079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:45:27 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17886, writes 0 timeouts 0
2025-04-24 15:45:27 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36094/37137
2025-04-24 15:45:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:27 [info] currentZPosition:0.113
2025-04-24 15:45:29 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:29 [debug] Diagnostics for board 50:
2025-04-24 15:45:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:47:34 ago, cause: software
2025-04-24 15:45:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:29 [debug] Moves scheduled 43758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4135300367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:45:29 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17090, writes 0 timeouts 0
2025-04-24 15:45:29 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36059/37160
2025-04-24 15:45:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:29 [info] currentZPosition:0.114
2025-04-24 15:45:30 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:30 [debug] Diagnostics for board 50:
2025-04-24 15:45:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:35 ago, cause: software
2025-04-24 15:45:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:30 [debug] Moves scheduled 43762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4134273469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:30 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17223, writes 0 timeouts 0
2025-04-24 15:45:30 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36064/37074
2025-04-24 15:45:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:30 [info] currentZPosition:0.115
2025-04-24 15:45:31 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:32 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:32 [debug] Diagnostics for board 50:
2025-04-24 15:45:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:37 ago, cause: software
2025-04-24 15:45:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:32 [debug] Moves scheduled 43768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4132989748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:32 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21537, writes 0 timeouts 0
2025-04-24 15:45:32 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36111/37124
2025-04-24 15:45:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:32 [info] currentZPosition:0.113
2025-04-24 15:45:33 [debug] Stopped at height 0.112 mm
2025-04-24 15:45:33 [debug] Diagnostics for board 50:
2025-04-24 15:45:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:38 ago, cause: software
2025-04-24 15:45:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:33 [debug] Moves scheduled 43772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 4131914120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:33 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18041, writes 0 timeouts 0
2025-04-24 15:45:33 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35998/37142
2025-04-24 15:45:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:33 [info] currentZPosition:0.112
2025-04-24 15:45:35 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:35 [debug] Diagnostics for board 50:
2025-04-24 15:45:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:39 ago, cause: software
2025-04-24 15:45:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:35 [debug] Moves scheduled 43776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4130918006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:45:35 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16708, writes 0 timeouts 0
2025-04-24 15:45:35 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36102/37095
2025-04-24 15:45:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9215, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:35 [info] currentZPosition:0.114
2025-04-24 15:45:35 [debug] Stopped at height 0.112 mm
2025-04-24 15:45:36 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:36 [debug] Diagnostics for board 50:
2025-04-24 15:45:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:41 ago, cause: software
2025-04-24 15:45:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:36 [debug] Moves scheduled 43782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4129616222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:45:36 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21863, writes 0 timeouts 0
2025-04-24 15:45:36 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36053/37142
2025-04-24 15:45:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:36 [info] currentZPosition:0.113
2025-04-24 15:45:38 [debug] Stopped at height 0.116 mm
2025-04-24 15:45:38 [debug] Diagnostics for board 50:
2025-04-24 15:45:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:47:43 ago, cause: software
2025-04-24 15:45:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:38 [debug] Moves scheduled 43786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4128647066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:45:38 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16242, writes 0 timeouts 0
2025-04-24 15:45:38 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36099/37086
2025-04-24 15:45:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9085, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:38 [info] currentZPosition:0.116
2025-04-24 15:45:38 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:39 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:39 [debug] Diagnostics for board 50:
2025-04-24 15:45:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:47:44 ago, cause: software
2025-04-24 15:45:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:39 [debug] Moves scheduled 43792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 94, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4127324503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:45:39 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22190, writes 0 timeouts 0
2025-04-24 15:45:39 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36096/37109
2025-04-24 15:45:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:39 [info] currentZPosition:0.114
2025-04-24 15:45:40 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:41 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:41 [debug] Diagnostics for board 50:
2025-04-24 15:45:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:46 ago, cause: software
2025-04-24 15:45:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:41 [debug] Moves scheduled 43798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15306
Sync err accum 91, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4126056037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:41 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21283, writes 0 timeouts 0
2025-04-24 15:45:41 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36108/37094
2025-04-24 15:45:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:41 [info] currentZPosition:0.113
2025-04-24 15:45:42 [debug] Stopped at height 0.117 mm
2025-04-24 15:45:42 [debug] Diagnostics for board 50:
2025-04-24 15:45:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:47 ago, cause: software
2025-04-24 15:45:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:42 [debug] Moves scheduled 43802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15306
Sync err accum 87, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4125069073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:45:42 [debug] Driver 0: pos -3511, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16564, writes 0 timeouts 0
2025-04-24 15:45:42 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36000/37137
2025-04-24 15:45:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 825
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9065, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:42 [info] currentZPosition:0.117
2025-04-24 15:45:43 [debug] Stopped at height 0.116 mm
2025-04-24 15:45:44 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:44 [debug] Diagnostics for board 50:
2025-04-24 15:45:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:49 ago, cause: software
2025-04-24 15:45:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:44 [debug] Moves scheduled 43808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4123754389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:45:44 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22054, writes 0 timeouts 0
2025-04-24 15:45:44 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36113/37162
2025-04-24 15:45:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9241, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:44 [info] currentZPosition:0.115
2025-04-24 15:45:45 [debug] Stopped at height 0.112 mm
2025-04-24 15:45:45 [debug] Stopped at height 0.112 mm
2025-04-24 15:45:46 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:46 [debug] Diagnostics for board 50:
2025-04-24 15:45:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:51 ago, cause: software
2025-04-24 15:45:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:46 [debug] Moves scheduled 43816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4122231777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:45:46 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25563, writes 0 timeouts 0
2025-04-24 15:45:46 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36090/37155
2025-04-24 15:45:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:46 [info] currentZPosition:0.115
2025-04-24 15:45:47 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:48 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:48 [debug] Diagnostics for board 50:
2025-04-24 15:45:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:53 ago, cause: software
2025-04-24 15:45:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:48 [debug] Moves scheduled 43822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4120965862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:45:48 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21233, writes 0 timeouts 0
2025-04-24 15:45:48 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36109/37149
2025-04-24 15:45:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:48 [info] currentZPosition:0.115
2025-04-24 15:45:49 [debug] Stopped at height 0.113 mm
2025-04-24 15:45:49 [debug] Diagnostics for board 50:
2025-04-24 15:45:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:54 ago, cause: software
2025-04-24 15:45:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:49 [debug] Moves scheduled 43826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4119860915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:45:49 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18530, writes 0 timeouts 0
2025-04-24 15:45:49 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36018/37109
2025-04-24 15:45:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:49 [info] currentZPosition:0.113
2025-04-24 15:45:50 [debug] Stopped at height 0.111 mm
2025-04-24 15:45:51 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:51 [debug] Diagnostics for board 50:
2025-04-24 15:45:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:56 ago, cause: software
2025-04-24 15:45:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:51 [debug] Moves scheduled 43832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 110, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4118634216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:45:51 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20609, writes 0 timeouts 0
2025-04-24 15:45:51 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36115/37103
2025-04-24 15:45:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:51 [info] currentZPosition:0.115
2025-04-24 15:45:51 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:53 [debug] Stopped at height 0.116 mm
2025-04-24 15:45:53 [debug] Diagnostics for board 50:
2025-04-24 15:45:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:47:58 ago, cause: software
2025-04-24 15:45:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:53 [debug] Moves scheduled 43838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 121, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4117351596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:45:53 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21507, writes 0 timeouts 0
2025-04-24 15:45:53 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36033/37117
2025-04-24 15:45:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9105, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:53 [info] currentZPosition:0.116
2025-04-24 15:45:53 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:54 [debug] Stopped at height 0.116 mm
2025-04-24 15:45:54 [debug] Diagnostics for board 50:
2025-04-24 15:45:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:47:59 ago, cause: software
2025-04-24 15:45:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:54 [debug] Moves scheduled 43844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 124, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4116089414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:45:54 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21154, writes 0 timeouts 0
2025-04-24 15:45:54 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36137/37169
2025-04-24 15:45:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:54 [info] currentZPosition:0.116
2025-04-24 15:45:55 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:56 [debug] Stopped at height 0.116 mm
2025-04-24 15:45:56 [debug] Diagnostics for board 50:
2025-04-24 15:45:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:01 ago, cause: software
2025-04-24 15:45:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:56 [debug] Moves scheduled 43850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15306
Sync err accum 126, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4114800116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:45:56 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21676, writes 0 timeouts 0
2025-04-24 15:45:56 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36063/37125
2025-04-24 15:45:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:56 [info] currentZPosition:0.116
2025-04-24 15:45:57 [debug] Stopped at height 0.115 mm
2025-04-24 15:45:57 [debug] Diagnostics for board 50:
2025-04-24 15:45:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:02 ago, cause: software
2025-04-24 15:45:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:57 [debug] Moves scheduled 43854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 121, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4113768252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:45:57 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17288, writes 0 timeouts 0
2025-04-24 15:45:57 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36073/37109
2025-04-24 15:45:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:58 [info] currentZPosition:0.115
2025-04-24 15:45:59 [debug] Stopped at height 0.114 mm
2025-04-24 15:45:59 [debug] Diagnostics for board 50:
2025-04-24 15:45:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:45:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:48:04 ago, cause: software
2025-04-24 15:45:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:45:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:45:59 [debug] Moves scheduled 43858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 116, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4112688508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:45:59 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18144, writes 0 timeouts 0
2025-04-24 15:45:59 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36070/37135
2025-04-24 15:45:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:45:59 [info] currentZPosition:0.114
2025-04-24 15:45:59 [debug] Stopped at height 0.113 mm
2025-04-24 15:46:01 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:01 [debug] Diagnostics for board 50:
2025-04-24 15:46:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:05 ago, cause: software
2025-04-24 15:46:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:01 [debug] Moves scheduled 43864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4111452841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 15:46:01 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20801, writes 0 timeouts 0
2025-04-24 15:46:01 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36051/37121
2025-04-24 15:46:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9213, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:01 [info] currentZPosition:0.115
2025-04-24 15:46:01 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:02 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:02 [debug] Diagnostics for board 50:
2025-04-24 15:46:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:07 ago, cause: software
2025-04-24 15:46:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:02 [debug] Moves scheduled 43870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 87, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 4110157836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:46:02 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21634, writes 0 timeouts 0
2025-04-24 15:46:02 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36096/37121
2025-04-24 15:46:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9214, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:02 [info] currentZPosition:0.115
2025-04-24 15:46:03 [debug] Stopped at height 0.113 mm
2025-04-24 15:46:04 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:04 [debug] Diagnostics for board 50:
2025-04-24 15:46:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:48:09 ago, cause: software
2025-04-24 15:46:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:04 [debug] Moves scheduled 43876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/-2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4108910265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:46:04 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20937, writes 0 timeouts 0
2025-04-24 15:46:04 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36106/37168
2025-04-24 15:46:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:04 [info] currentZPosition:0.115
2025-04-24 15:46:04 [debug] Stopped at height 0.113 mm
2025-04-24 15:46:06 [debug] Stopped at height 0.113 mm
2025-04-24 15:46:06 [debug] Diagnostics for board 50:
2025-04-24 15:46:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:48:11 ago, cause: software
2025-04-24 15:46:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:06 [debug] Moves scheduled 43882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -3/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4107574134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:46:06 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22422, writes 0 timeouts 0
2025-04-24 15:46:06 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36051/37146
2025-04-24 15:46:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:06 [info] currentZPosition:0.113
2025-04-24 15:46:07 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:07 [debug] Diagnostics for board 50:
2025-04-24 15:46:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:12 ago, cause: software
2025-04-24 15:46:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:07 [debug] Moves scheduled 43886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4106587152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:46:07 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16540, writes 0 timeouts 0
2025-04-24 15:46:07 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36116/37100
2025-04-24 15:46:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:07 [info] currentZPosition:0.115
2025-04-24 15:46:08 [debug] Stopped at height 0.113 mm
2025-04-24 15:46:09 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:09 [debug] Diagnostics for board 50:
2025-04-24 15:46:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:14 ago, cause: software
2025-04-24 15:46:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:09 [debug] Moves scheduled 43892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4105302979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:46:09 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21560, writes 0 timeouts 0
2025-04-24 15:46:09 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35999/37099
2025-04-24 15:46:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9228, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:09 [info] currentZPosition:0.115
2025-04-24 15:46:09 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:10 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:10 [debug] Diagnostics for board 50:
2025-04-24 15:46:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:15 ago, cause: software
2025-04-24 15:46:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:10 [debug] Moves scheduled 43898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 118, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4104058027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:46:10 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20892, writes 0 timeouts 0
2025-04-24 15:46:10 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36057/37134
2025-04-24 15:46:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:11 [info] currentZPosition:0.116
2025-04-24 15:46:11 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:12 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:12 [debug] Diagnostics for board 50:
2025-04-24 15:46:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:17 ago, cause: software
2025-04-24 15:46:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:12 [debug] Moves scheduled 43904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 126, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4102763535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:46:12 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21719, writes 0 timeouts 0
2025-04-24 15:46:12 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36016/37161
2025-04-24 15:46:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:12 [info] currentZPosition:0.115
2025-04-24 15:46:14 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:14 [debug] Diagnostics for board 50:
2025-04-24 15:46:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:18 ago, cause: software
2025-04-24 15:46:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:14 [debug] Moves scheduled 43908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 127, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4101726289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:46:14 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17401, writes 0 timeouts 0
2025-04-24 15:46:14 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36114/37108
2025-04-24 15:46:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:14 [info] currentZPosition:0.114
2025-04-24 15:46:15 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:15 [debug] Diagnostics for board 50:
2025-04-24 15:46:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:20 ago, cause: software
2025-04-24 15:46:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:15 [debug] Moves scheduled 43912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 114, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4100685630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:46:15 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17447, writes 0 timeouts 0
2025-04-24 15:46:15 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36075/37090
2025-04-24 15:46:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:15 [info] currentZPosition:0.115
2025-04-24 15:46:16 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:16 [debug] Diagnostics for board 50:
2025-04-24 15:46:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:21 ago, cause: software
2025-04-24 15:46:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:16 [debug] Moves scheduled 43916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4099652381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, ma
2025-04-24 15:46:16 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17328, writes 0 timeouts 0
2025-04-24 15:46:16 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36063/37128
2025-04-24 15:46:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:16 [info] currentZPosition:0.115
2025-04-24 15:46:18 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:18 [debug] Diagnostics for board 50:
2025-04-24 15:46:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:23 ago, cause: software
2025-04-24 15:46:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:18 [debug] Moves scheduled 43920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4098607925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:46:18 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17533, writes 0 timeouts 0
2025-04-24 15:46:18 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35991/37115
2025-04-24 15:46:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9229, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:18 [info] currentZPosition:0.115
2025-04-24 15:46:19 [debug] Stopped at height 0.117 mm
2025-04-24 15:46:19 [debug] Diagnostics for board 50:
2025-04-24 15:46:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:24 ago, cause: software
2025-04-24 15:46:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:19 [debug] Moves scheduled 43924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -4/-2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4097616913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:46:19 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16629, writes 0 timeouts 0
2025-04-24 15:46:19 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36056/37102
2025-04-24 15:46:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:19 [info] currentZPosition:0.117
2025-04-24 15:46:19 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:21 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:21 [debug] Diagnostics for board 50:
2025-04-24 15:46:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:26 ago, cause: software
2025-04-24 15:46:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:21 [debug] Moves scheduled 43930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4096294036 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:46:21 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22175, writes 0 timeouts 0
2025-04-24 15:46:21 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36013/37118
2025-04-24 15:46:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9225, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:21 [info] currentZPosition:0.115
2025-04-24 15:46:22 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:22 [debug] Diagnostics for board 50:
2025-04-24 15:46:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:27 ago, cause: software
2025-04-24 15:46:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:22 [debug] Moves scheduled 43934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4095283099 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:46:22 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16976, writes 0 timeouts 0
2025-04-24 15:46:22 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36107/37137
2025-04-24 15:46:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:22 [info] currentZPosition:0.116
2025-04-24 15:46:24 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:24 [debug] Diagnostics for board 50:
2025-04-24 15:46:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:28 ago, cause: software
2025-04-24 15:46:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:24 [debug] Moves scheduled 43938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 4094220267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:46:24 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17831, writes 0 timeouts 0
2025-04-24 15:46:24 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36063/37099
2025-04-24 15:46:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9241, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:24 [info] currentZPosition:0.115
2025-04-24 15:46:25 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:25 [debug] Diagnostics for board 50:
2025-04-24 15:46:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:30 ago, cause: software
2025-04-24 15:46:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:25 [debug] Moves scheduled 43942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4093169520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:46:25 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17622, writes 0 timeouts 0
2025-04-24 15:46:25 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36187/37102
2025-04-24 15:46:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:25 [info] currentZPosition:0.114
2025-04-24 15:46:25 [debug] Stopped at height 0.112 mm
2025-04-24 15:46:27 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:27 [debug] Diagnostics for board 50:
2025-04-24 15:46:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:32 ago, cause: software
2025-04-24 15:46:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:27 [debug] Moves scheduled 43948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4091897968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:46:27 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21328, writes 0 timeouts 0
2025-04-24 15:46:27 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36027/37144
2025-04-24 15:46:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:27 [info] currentZPosition:0.115
2025-04-24 15:46:27 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:28 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:28 [debug] Diagnostics for board 50:
2025-04-24 15:46:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:33 ago, cause: software
2025-04-24 15:46:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:28 [debug] Moves scheduled 43954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4090633323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:46:28 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21224, writes 0 timeouts 0
2025-04-24 15:46:28 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36315/37125
2025-04-24 15:46:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9240, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:28 [info] currentZPosition:0.115
2025-04-24 15:46:30 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:30 [debug] Diagnostics for board 50:
2025-04-24 15:46:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:35 ago, cause: software
2025-04-24 15:46:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:30 [debug] Moves scheduled 43958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 92, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4089577685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:46:30 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17716, writes 0 timeouts 0
2025-04-24 15:46:30 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36095/37170
2025-04-24 15:46:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:30 [info] currentZPosition:0.115
2025-04-24 15:46:31 [debug] Stopped at height 0.117 mm
2025-04-24 15:46:31 [debug] Diagnostics for board 50:
2025-04-24 15:46:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:36 ago, cause: software
2025-04-24 15:46:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:31 [debug] Moves scheduled 43962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4088602361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:46:31 [debug] Driver 0: pos -3518, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16362, writes 0 timeouts 0
2025-04-24 15:46:31 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 434, adv 36324/37119
2025-04-24 15:46:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9113, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:31 [info] currentZPosition:0.117
2025-04-24 15:46:31 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:33 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:33 [debug] Diagnostics for board 50:
2025-04-24 15:46:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:38 ago, cause: software
2025-04-24 15:46:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:33 [debug] Moves scheduled 43968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4087269683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:46:33 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22350, writes 0 timeouts 0
2025-04-24 15:46:33 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36031/37117
2025-04-24 15:46:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:33 [info] currentZPosition:0.115
2025-04-24 15:46:34 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:34 [debug] Diagnostics for board 50:
2025-04-24 15:46:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:39 ago, cause: software
2025-04-24 15:46:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:34 [debug] Moves scheduled 43972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4086220778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:46:34 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17604, writes 0 timeouts 0
2025-04-24 15:46:34 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36327/37113
2025-04-24 15:46:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:34 [info] currentZPosition:0.114
2025-04-24 15:46:35 [debug] Stopped at height 0.112 mm
2025-04-24 15:46:35 [debug] Stopped at height 0.112 mm
2025-04-24 15:46:36 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:36 [debug] Diagnostics for board 50:
2025-04-24 15:46:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:41 ago, cause: software
2025-04-24 15:46:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:36 [debug] Moves scheduled 43980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -2/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4084702012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:46:36 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25487, writes 0 timeouts 0
2025-04-24 15:46:36 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36012/37121
2025-04-24 15:46:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:36 [info] currentZPosition:0.115
2025-04-24 15:46:37 [debug] Stopped at height 0.113 mm
2025-04-24 15:46:38 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:38 [debug] Diagnostics for board 50:
2025-04-24 15:46:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:43 ago, cause: software
2025-04-24 15:46:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:38 [debug] Moves scheduled 43986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4083452010 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:46:38 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20961, writes 0 timeouts 0
2025-04-24 15:46:38 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36317/37107
2025-04-24 15:46:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:38 [info] currentZPosition:0.115
2025-04-24 15:46:38 [debug] Stopped at height 0.114 mm
2025-04-24 15:46:40 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:40 [debug] Diagnostics for board 50:
2025-04-24 15:46:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:44 ago, cause: software
2025-04-24 15:46:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:40 [debug] Moves scheduled 43992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4082175551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:46:40 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21453, writes 0 timeouts 0
2025-04-24 15:46:40 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35999/37115
2025-04-24 15:46:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:40 [info] currentZPosition:0.116
2025-04-24 15:46:40 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:41 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:41 [debug] Diagnostics for board 50:
2025-04-24 15:46:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:48:46 ago, cause: software
2025-04-24 15:46:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:41 [debug] Moves scheduled 43998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 112, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4080921759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 34.9C, max 
2025-04-24 15:46:41 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20994, writes 0 timeouts 0
2025-04-24 15:46:41 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36305/37127
2025-04-24 15:46:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:41 [info] currentZPosition:0.116
2025-04-24 15:46:43 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:43 [debug] Diagnostics for board 50:
2025-04-24 15:46:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:48 ago, cause: software
2025-04-24 15:46:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:43 [debug] Moves scheduled 44002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 119, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4079843898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:46:43 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18106, writes 0 timeouts 0
2025-04-24 15:46:43 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36029/37144
2025-04-24 15:46:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:43 [info] currentZPosition:0.115
2025-04-24 15:46:44 [debug] Stopped at height 0.117 mm
2025-04-24 15:46:44 [debug] Diagnostics for board 50:
2025-04-24 15:46:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:49 ago, cause: software
2025-04-24 15:46:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:44 [debug] Moves scheduled 44006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 124, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4078864093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:46:44 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16449, writes 0 timeouts 0
2025-04-24 15:46:44 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36323/37169
2025-04-24 15:46:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 827
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:44 [info] currentZPosition:0.117
2025-04-24 15:46:44 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:46 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:46 [debug] Diagnostics for board 50:
2025-04-24 15:46:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:51 ago, cause: software
2025-04-24 15:46:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:46 [debug] Moves scheduled 44012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9740, max=15306
Sync err accum 123, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4077557735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:46:46 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21891, writes 0 timeouts 0
2025-04-24 15:46:46 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36023/37136
2025-04-24 15:46:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9202, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:46 [info] currentZPosition:0.116
2025-04-24 15:46:47 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:47 [debug] Diagnostics for board 50:
2025-04-24 15:46:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:48:52 ago, cause: software
2025-04-24 15:46:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:47 [debug] Moves scheduled 44016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 121, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4076508912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:46:47 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17603, writes 0 timeouts 0
2025-04-24 15:46:47 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36300/37143
2025-04-24 15:46:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:47 [info] currentZPosition:0.115
2025-04-24 15:46:48 [debug] Stopped at height 0.113 mm
2025-04-24 15:46:48 [debug] Stopped at height 0.112 mm
2025-04-24 15:46:49 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:49 [debug] Diagnostics for board 50:
2025-04-24 15:46:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:54 ago, cause: software
2025-04-24 15:46:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:49 [debug] Moves scheduled 44024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4075002596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:46:49 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25299, writes 0 timeouts 0
2025-04-24 15:46:49 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36065/37125
2025-04-24 15:46:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9141, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:49 [info] currentZPosition:0.116
2025-04-24 15:46:50 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:51 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:51 [debug] Diagnostics for board 50:
2025-04-24 15:46:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:48:56 ago, cause: software
2025-04-24 15:46:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:51 [debug] Moves scheduled 44030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4073719088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:46:51 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21498, writes 0 timeouts 0
2025-04-24 15:46:51 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36319/37161
2025-04-24 15:46:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9202, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:51 [info] currentZPosition:0.116
2025-04-24 15:46:52 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:52 [debug] Diagnostics for board 50:
2025-04-24 15:46:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:48:57 ago, cause: software
2025-04-24 15:46:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:52 [debug] Moves scheduled 44034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4072643080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:46:52 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18058, writes 0 timeouts 0
2025-04-24 15:46:52 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36034/37157
2025-04-24 15:46:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:52 [info] currentZPosition:0.115
2025-04-24 15:46:54 [debug] Stopped at height 0.117 mm
2025-04-24 15:46:54 [debug] Diagnostics for board 50:
2025-04-24 15:46:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:48:59 ago, cause: software
2025-04-24 15:46:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:54 [debug] Moves scheduled 44038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15306
Sync err accum 63, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967243 ticks, disabled, next step interrupt due in 4071657714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-24 15:46:54 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16530, writes 0 timeouts 0
2025-04-24 15:46:54 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36367/37123
2025-04-24 15:46:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:54 [info] currentZPosition:0.117
2025-04-24 15:46:54 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:55 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:55 [debug] Diagnostics for board 50:
2025-04-24 15:46:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:00 ago, cause: software
2025-04-24 15:46:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:55 [debug] Moves scheduled 44044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4070361689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:46:55 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21734, writes 0 timeouts 0
2025-04-24 15:46:55 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36015/37121
2025-04-24 15:46:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9160, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:55 [info] currentZPosition:0.116
2025-04-24 15:46:56 [debug] Stopped at height 0.117 mm
2025-04-24 15:46:57 [debug] Stopped at height 0.116 mm
2025-04-24 15:46:57 [debug] Diagnostics for board 50:
2025-04-24 15:46:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:02 ago, cause: software
2025-04-24 15:46:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:57 [debug] Moves scheduled 44050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 87, peak jitter 0/4, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4069099641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:46:57 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21191, writes 0 timeouts 0
2025-04-24 15:46:57 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36391/37146
2025-04-24 15:46:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:57 [info] currentZPosition:0.116
2025-04-24 15:46:58 [debug] Stopped at height 0.115 mm
2025-04-24 15:46:58 [debug] Diagnostics for board 50:
2025-04-24 15:46:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:46:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:49:03 ago, cause: software
2025-04-24 15:46:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:46:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:46:58 [debug] Moves scheduled 44054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4068022966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:46:58 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18066, writes 0 timeouts 0
2025-04-24 15:46:58 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36018/37162
2025-04-24 15:46:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:46:59 [info] currentZPosition:0.115
2025-04-24 15:47:00 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:00 [debug] Diagnostics for board 50:
2025-04-24 15:47:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:05 ago, cause: software
2025-04-24 15:47:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:00 [debug] Moves scheduled 44058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 4066992384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:47:00 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17282, writes 0 timeouts 0
2025-04-24 15:47:00 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36317/37129
2025-04-24 15:47:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:00 [info] currentZPosition:0.115
2025-04-24 15:47:01 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:01 [debug] Diagnostics for board 50:
2025-04-24 15:47:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:06 ago, cause: software
2025-04-24 15:47:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:01 [debug] Moves scheduled 44062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4065972622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:01 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17122, writes 0 timeouts 0
2025-04-24 15:47:01 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36051/37158
2025-04-24 15:47:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:01 [info] currentZPosition:0.117
2025-04-24 15:47:02 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:03 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:03 [debug] Diagnostics for board 50:
2025-04-24 15:47:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:08 ago, cause: software
2025-04-24 15:47:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:03 [debug] Moves scheduled 44068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4064700289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:47:03 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21345, writes 0 timeouts 0
2025-04-24 15:47:03 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36311/37103
2025-04-24 15:47:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:03 [info] currentZPosition:0.116
2025-04-24 15:47:04 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:04 [debug] Diagnostics for board 50:
2025-04-24 15:47:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:09 ago, cause: software
2025-04-24 15:47:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:04 [debug] Moves scheduled 44072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4063629538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:47:04 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17974, writes 0 timeouts 0
2025-04-24 15:47:04 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36058/37154
2025-04-24 15:47:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:04 [info] currentZPosition:0.115
2025-04-24 15:47:06 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:06 [debug] Diagnostics for board 50:
2025-04-24 15:47:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:11 ago, cause: software
2025-04-24 15:47:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:06 [debug] Moves scheduled 44076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4062610963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:06 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17095, writes 0 timeouts 0
2025-04-24 15:47:06 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36319/37124
2025-04-24 15:47:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9237, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:06 [info] currentZPosition:0.116
2025-04-24 15:47:07 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:07 [debug] Diagnostics for board 50:
2025-04-24 15:47:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:12 ago, cause: software
2025-04-24 15:47:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:07 [debug] Moves scheduled 44080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 70, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4061579943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:47:07 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17281, writes 0 timeouts 0
2025-04-24 15:47:07 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36023/37156
2025-04-24 15:47:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9127, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:07 [info] currentZPosition:0.117
2025-04-24 15:47:07 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:09 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:09 [debug] Diagnostics for board 50:
2025-04-24 15:47:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:14 ago, cause: software
2025-04-24 15:47:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:09 [debug] Moves scheduled 44086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 62, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4060313859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:09 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21240, writes 0 timeouts 0
2025-04-24 15:47:09 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36308/37126
2025-04-24 15:47:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:09 [info] currentZPosition:0.116
2025-04-24 15:47:10 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:10 [debug] Diagnostics for board 50:
2025-04-24 15:47:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:49:15 ago, cause: software
2025-04-24 15:47:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:10 [debug] Moves scheduled 44090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4059268880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:47:10 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17552, writes 0 timeouts 0
2025-04-24 15:47:10 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36047/37118
2025-04-24 15:47:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9128, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:10 [info] currentZPosition:0.117
2025-04-24 15:47:11 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:11 [debug] Diagnostics for board 50:
2025-04-24 15:47:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:16 ago, cause: software
2025-04-24 15:47:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:11 [debug] Moves scheduled 44094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter 2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4058248604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:47:11 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17130, writes 0 timeouts 0
2025-04-24 15:47:11 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36289/37093
2025-04-24 15:47:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:12 [info] currentZPosition:0.117
2025-04-24 15:47:13 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:13 [debug] Diagnostics for board 50:
2025-04-24 15:47:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:18 ago, cause: software
2025-04-24 15:47:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:13 [debug] Moves scheduled 44098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4057178710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:47:13 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17944, writes 0 timeouts 0
2025-04-24 15:47:13 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36056/37108
2025-04-24 15:47:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:13 [info] currentZPosition:0.117
2025-04-24 15:47:14 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:14 [debug] Diagnostics for board 50:
2025-04-24 15:47:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:19 ago, cause: software
2025-04-24 15:47:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:14 [debug] Moves scheduled 44102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 109, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4056118880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:47:14 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17780, writes 0 timeouts 0
2025-04-24 15:47:14 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36377/37113
2025-04-24 15:47:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:14 [info] currentZPosition:0.115
2025-04-24 15:47:15 [debug] Stopped at height 0.114 mm
2025-04-24 15:47:16 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:16 [debug] Diagnostics for board 50:
2025-04-24 15:47:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:21 ago, cause: software
2025-04-24 15:47:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:16 [debug] Moves scheduled 44108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 114, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4054832631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:16 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21598, writes 0 timeouts 0
2025-04-24 15:47:16 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36021/37109
2025-04-24 15:47:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:16 [info] currentZPosition:0.115
2025-04-24 15:47:16 [debug] Stopped at height 0.114 mm
2025-04-24 15:47:18 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:18 [debug] Diagnostics for board 50:
2025-04-24 15:47:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:49:23 ago, cause: software
2025-04-24 15:47:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:18 [debug] Moves scheduled 44114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 116, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4053568577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:47:18 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21205, writes 0 timeouts 0
2025-04-24 15:47:18 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36337/37135
2025-04-24 15:47:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:18 [info] currentZPosition:0.115
2025-04-24 15:47:19 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:19 [debug] Diagnostics for board 50:
2025-04-24 15:47:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:49:24 ago, cause: software
2025-04-24 15:47:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:19 [debug] Moves scheduled 44118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4052527512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:47:19 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17467, writes 0 timeouts 0
2025-04-24 15:47:19 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36033/37126
2025-04-24 15:47:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9226, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:19 [info] currentZPosition:0.116
2025-04-24 15:47:20 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:20 [debug] Diagnostics for board 50:
2025-04-24 15:47:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:25 ago, cause: software
2025-04-24 15:47:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:20 [debug] Moves scheduled 44122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 114, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4051525339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:47:20 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16817, writes 0 timeouts 0
2025-04-24 15:47:20 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36369/37132
2025-04-24 15:47:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9167, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:21 [info] currentZPosition:0.117
2025-04-24 15:47:21 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:22 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:22 [debug] Diagnostics for board 50:
2025-04-24 15:47:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:27 ago, cause: software
2025-04-24 15:47:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:22 [debug] Moves scheduled 44128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4050221411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:47:22 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21881, writes 0 timeouts 0
2025-04-24 15:47:22 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35978/37160
2025-04-24 15:47:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:22 [info] currentZPosition:0.116
2025-04-24 15:47:23 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:24 [debug] Stopped at height 0.118 mm
2025-04-24 15:47:24 [debug] Diagnostics for board 50:
2025-04-24 15:47:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:29 ago, cause: software
2025-04-24 15:47:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:24 [debug] Moves scheduled 44134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 91, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4048984391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:47:24 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20761, writes 0 timeouts 0
2025-04-24 15:47:24 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36232/37102
2025-04-24 15:47:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9098, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:24 [info] currentZPosition:0.118
2025-04-24 15:47:24 [debug] Stopped at height 0.114 mm
2025-04-24 15:47:26 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:26 [debug] Diagnostics for board 50:
2025-04-24 15:47:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:31 ago, cause: software
2025-04-24 15:47:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:26 [debug] Moves scheduled 44140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4047656635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:47:26 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22276, writes 0 timeouts 0
2025-04-24 15:47:26 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36079/37165
2025-04-24 15:47:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:26 [info] currentZPosition:0.116
2025-04-24 15:47:26 [debug] Stopped at height 0.114 mm
2025-04-24 15:47:27 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:27 [debug] Diagnostics for board 50:
2025-04-24 15:47:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:32 ago, cause: software
2025-04-24 15:47:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:27 [debug] Moves scheduled 44146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4046430685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:47:27 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20602, writes 0 timeouts 0
2025-04-24 15:47:27 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36082/37171
2025-04-24 15:47:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9129, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:27 [info] currentZPosition:0.117
2025-04-24 15:47:28 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:29 [debug] Stopped at height 0.118 mm
2025-04-24 15:47:29 [debug] Diagnostics for board 50:
2025-04-24 15:47:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:34 ago, cause: software
2025-04-24 15:47:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:29 [debug] Moves scheduled 44152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4045145478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:47:29 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21541, writes 0 timeouts 0
2025-04-24 15:47:29 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36020/37164
2025-04-24 15:47:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:29 [info] currentZPosition:0.118
2025-04-24 15:47:29 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:31 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:31 [debug] Diagnostics for board 50:
2025-04-24 15:47:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:36 ago, cause: software
2025-04-24 15:47:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:31 [debug] Moves scheduled 44158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4043846162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:47:31 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21794, writes 0 timeouts 0
2025-04-24 15:47:31 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36045/37166
2025-04-24 15:47:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:31 [info] currentZPosition:0.115
2025-04-24 15:47:32 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:32 [debug] Diagnostics for board 50:
2025-04-24 15:47:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:37 ago, cause: software
2025-04-24 15:47:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:32 [debug] Moves scheduled 44162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4042826224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:47:32 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17163, writes 0 timeouts 0
2025-04-24 15:47:32 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36047/37109
2025-04-24 15:47:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:32 [info] currentZPosition:0.117
2025-04-24 15:47:33 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:34 [debug] Stopped at height 0.118 mm
2025-04-24 15:47:34 [debug] Diagnostics for board 50:
2025-04-24 15:47:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:39 ago, cause: software
2025-04-24 15:47:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:34 [debug] Moves scheduled 44168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15306
Sync err accum 67, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4041573752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:34 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20975, writes 0 timeouts 0
2025-04-24 15:47:34 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36100/37152
2025-04-24 15:47:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9158, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:34 [info] currentZPosition:0.118
2025-04-24 15:47:34 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:35 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:35 [debug] Diagnostics for board 50:
2025-04-24 15:47:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:40 ago, cause: software
2025-04-24 15:47:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:35 [debug] Moves scheduled 44174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4040238668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:47:35 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22383, writes 0 timeouts 0
2025-04-24 15:47:35 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36054/37136
2025-04-24 15:47:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:36 [info] currentZPosition:0.116
2025-04-24 15:47:36 [debug] Stopped at height 0.114 mm
2025-04-24 15:47:36 [debug] Stopped at height 0.114 mm
2025-04-24 15:47:38 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:38 [debug] Diagnostics for board 50:
2025-04-24 15:47:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:42 ago, cause: software
2025-04-24 15:47:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:38 [debug] Moves scheduled 44182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4038715871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:47:38 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25561, writes 0 timeouts 0
2025-04-24 15:47:38 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36086/37121
2025-04-24 15:47:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:38 [info] currentZPosition:0.115
2025-04-24 15:47:39 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:39 [debug] Diagnostics for board 50:
2025-04-24 15:47:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:44 ago, cause: software
2025-04-24 15:47:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:39 [debug] Moves scheduled 44186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4037695973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:47:39 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17121, writes 0 timeouts 0
2025-04-24 15:47:39 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36056/37153
2025-04-24 15:47:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9223, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:39 [info] currentZPosition:0.117
2025-04-24 15:47:39 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:41 [debug] Stopped at height 0.118 mm
2025-04-24 15:47:41 [debug] Diagnostics for board 50:
2025-04-24 15:47:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:45 ago, cause: software
2025-04-24 15:47:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:41 [debug] Moves scheduled 44192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4036458495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:47:41 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20774, writes 0 timeouts 0
2025-04-24 15:47:41 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36071/37162
2025-04-24 15:47:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:41 [info] currentZPosition:0.118
2025-04-24 15:47:41 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:42 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:42 [debug] Diagnostics for board 50:
2025-04-24 15:47:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:47 ago, cause: software
2025-04-24 15:47:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:42 [debug] Moves scheduled 44198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4035142373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:47:42 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22084, writes 0 timeouts 0
2025-04-24 15:47:42 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36021/37133
2025-04-24 15:47:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:42 [info] currentZPosition:0.117
2025-04-24 15:47:44 [debug] Stopped at height 0.118 mm
2025-04-24 15:47:44 [debug] Diagnostics for board 50:
2025-04-24 15:47:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:49:49 ago, cause: software
2025-04-24 15:47:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:44 [debug] Moves scheduled 44202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4034129928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:44 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 15:47:44 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36062/37115
2025-04-24 15:47:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:44 [info] currentZPosition:0.118
2025-04-24 15:47:45 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:45 [debug] Diagnostics for board 50:
2025-04-24 15:47:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:49:50 ago, cause: software
2025-04-24 15:47:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:45 [debug] Moves scheduled 44206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4033038613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:47:45 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18312, writes 0 timeouts 0
2025-04-24 15:47:45 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36004/37110
2025-04-24 15:47:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:45 [info] currentZPosition:0.116
2025-04-24 15:47:46 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:47 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:47 [debug] Diagnostics for board 50:
2025-04-24 15:47:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:52 ago, cause: software
2025-04-24 15:47:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:47 [debug] Moves scheduled 44212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4031764911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:47:47 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21372, writes 0 timeouts 0
2025-04-24 15:47:47 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36098/37125
2025-04-24 15:47:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:47 [info] currentZPosition:0.116
2025-04-24 15:47:48 [debug] Stopped at height 0.118 mm
2025-04-24 15:47:48 [debug] Diagnostics for board 50:
2025-04-24 15:47:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:49:53 ago, cause: software
2025-04-24 15:47:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:48 [debug] Moves scheduled 44216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4030758598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:48 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16893, writes 0 timeouts 0
2025-04-24 15:47:48 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36019/37154
2025-04-24 15:47:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:48 [info] currentZPosition:0.118
2025-04-24 15:47:49 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:50 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:50 [debug] Diagnostics for board 50:
2025-04-24 15:47:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:49:55 ago, cause: software
2025-04-24 15:47:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:50 [debug] Moves scheduled 44222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4029435950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:47:50 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22176, writes 0 timeouts 0
2025-04-24 15:47:50 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36053/37132
2025-04-24 15:47:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:50 [info] currentZPosition:0.115
2025-04-24 15:47:50 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:52 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:52 [debug] Diagnostics for board 50:
2025-04-24 15:47:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:49:57 ago, cause: software
2025-04-24 15:47:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:52 [debug] Moves scheduled 44228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 4028161019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:47:52 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21395, writes 0 timeouts 0
2025-04-24 15:47:52 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36006/37109
2025-04-24 15:47:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9221, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:52 [info] currentZPosition:0.116
2025-04-24 15:47:52 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:53 [debug] Stopped at height 0.118 mm
2025-04-24 15:47:53 [debug] Diagnostics for board 50:
2025-04-24 15:47:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:49:58 ago, cause: software
2025-04-24 15:47:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:53 [debug] Moves scheduled 44234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4026930459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:47:53 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20649, writes 0 timeouts 0
2025-04-24 15:47:53 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36032/37106
2025-04-24 15:47:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:53 [info] currentZPosition:0.118
2025-04-24 15:47:54 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:55 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:55 [debug] Diagnostics for board 50:
2025-04-24 15:47:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:00 ago, cause: software
2025-04-24 15:47:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:55 [debug] Moves scheduled 44240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4025577287 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:47:55 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22701, writes 0 timeouts 0
2025-04-24 15:47:55 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36052/37117
2025-04-24 15:47:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:55 [info] currentZPosition:0.115
2025-04-24 15:47:55 [debug] Stopped at height 0.114 mm
2025-04-24 15:47:57 [debug] Stopped at height 0.117 mm
2025-04-24 15:47:57 [debug] Diagnostics for board 50:
2025-04-24 15:47:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:02 ago, cause: software
2025-04-24 15:47:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:57 [debug] Moves scheduled 44246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4024348201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:47:57 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20630, writes 0 timeouts 0
2025-04-24 15:47:57 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36005/37150
2025-04-24 15:47:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9226, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:57 [info] currentZPosition:0.117
2025-04-24 15:47:57 [debug] Stopped at height 0.115 mm
2025-04-24 15:47:58 [debug] Stopped at height 0.116 mm
2025-04-24 15:47:58 [debug] Diagnostics for board 50:
2025-04-24 15:47:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:47:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:03 ago, cause: software
2025-04-24 15:47:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:47:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:47:58 [debug] Moves scheduled 44252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4023002096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:47:58 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22579, writes 0 timeouts 0
2025-04-24 15:47:58 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 430, adv 35948/37120
2025-04-24 15:47:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:47:59 [info] currentZPosition:0.116
2025-04-24 15:48:00 [debug] Stopped at height 0.115 mm
2025-04-24 15:48:00 [debug] Diagnostics for board 50:
2025-04-24 15:48:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:05 ago, cause: software
2025-04-24 15:48:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:00 [debug] Moves scheduled 44256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4021956096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:48:00 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17524, writes 0 timeouts 0
2025-04-24 15:48:00 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36144/37159
2025-04-24 15:48:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9349, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:00 [info] currentZPosition:0.115
2025-04-24 15:48:00 [debug] Stopped at height 0.114 mm
2025-04-24 15:48:02 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:02 [debug] Diagnostics for board 50:
2025-04-24 15:48:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:50:06 ago, cause: software
2025-04-24 15:48:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:02 [debug] Moves scheduled 44262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4020716896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:48:02 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20804, writes 0 timeouts 0
2025-04-24 15:48:02 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36027/37143
2025-04-24 15:48:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9139, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:02 [info] currentZPosition:0.118
2025-04-24 15:48:02 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:03 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:03 [debug] Diagnostics for board 50:
2025-04-24 15:48:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:50:08 ago, cause: software
2025-04-24 15:48:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:03 [debug] Moves scheduled 44268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4019411713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:48:03 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21913, writes 0 timeouts 0
2025-04-24 15:48:03 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 423, adv 36089/37099
2025-04-24 15:48:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:03 [info] currentZPosition:0.116
2025-04-24 15:48:05 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:05 [debug] Diagnostics for board 50:
2025-04-24 15:48:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:10 ago, cause: software
2025-04-24 15:48:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:05 [debug] Moves scheduled 44272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4018388625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:48:05 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17165, writes 0 timeouts 0
2025-04-24 15:48:05 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36079/37114
2025-04-24 15:48:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:05 [info] currentZPosition:0.118
2025-04-24 15:48:05 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:06 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:06 [debug] Diagnostics for board 50:
2025-04-24 15:48:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:11 ago, cause: software
2025-04-24 15:48:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:06 [debug] Moves scheduled 44278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4017126249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:06 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21177, writes 0 timeouts 0
2025-04-24 15:48:06 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36083/37104
2025-04-24 15:48:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:06 [info] currentZPosition:0.118
2025-04-24 15:48:07 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:08 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:08 [debug] Diagnostics for board 50:
2025-04-24 15:48:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:13 ago, cause: software
2025-04-24 15:48:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:08 [debug] Moves scheduled 44284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4015800656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:48:08 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22274, writes 0 timeouts 0
2025-04-24 15:48:08 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36060/37086
2025-04-24 15:48:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:08 [info] currentZPosition:0.116
2025-04-24 15:48:09 [debug] Stopped at height 0.115 mm
2025-04-24 15:48:10 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:10 [debug] Diagnostics for board 50:
2025-04-24 15:48:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:50:15 ago, cause: software
2025-04-24 15:48:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:10 [debug] Moves scheduled 44290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4014550256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:48:10 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20941, writes 0 timeouts 0
2025-04-24 15:48:10 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36108/37126
2025-04-24 15:48:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:10 [info] currentZPosition:0.117
2025-04-24 15:48:10 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:11 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:11 [debug] Diagnostics for board 50:
2025-04-24 15:48:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:50:16 ago, cause: software
2025-04-24 15:48:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:11 [debug] Moves scheduled 44296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4013265965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:48:11 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21554, writes 0 timeouts 0
2025-04-24 15:48:11 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36028/37149
2025-04-24 15:48:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9248, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:12 [info] currentZPosition:0.117
2025-04-24 15:48:12 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:13 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:13 [debug] Diagnostics for board 50:
2025-04-24 15:48:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:18 ago, cause: software
2025-04-24 15:48:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:13 [debug] Moves scheduled 44302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 4011994823 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:48:13 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21351, writes 0 timeouts 0
2025-04-24 15:48:13 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36086/37104
2025-04-24 15:48:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:13 [info] currentZPosition:0.116
2025-04-24 15:48:15 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:15 [debug] Diagnostics for board 50:
2025-04-24 15:48:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:19 ago, cause: software
2025-04-24 15:48:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:15 [debug] Moves scheduled 44306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4010947390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:48:15 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17549, writes 0 timeouts 0
2025-04-24 15:48:15 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36058/37120
2025-04-24 15:48:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:15 [info] currentZPosition:0.117
2025-04-24 15:48:16 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:16 [debug] Diagnostics for board 50:
2025-04-24 15:48:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:21 ago, cause: software
2025-04-24 15:48:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:16 [debug] Moves scheduled 44310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 96, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4009951337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:48:16 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16709, writes 0 timeouts 0
2025-04-24 15:48:16 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36066/37142
2025-04-24 15:48:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:16 [info] currentZPosition:0.118
2025-04-24 15:48:16 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:18 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:18 [debug] Diagnostics for board 50:
2025-04-24 15:48:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:50:23 ago, cause: software
2025-04-24 15:48:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:18 [debug] Moves scheduled 44316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 4008644955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:18 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21932, writes 0 timeouts 0
2025-04-24 15:48:18 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36027/37126
2025-04-24 15:48:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:18 [info] currentZPosition:0.117
2025-04-24 15:48:19 [debug] Stopped at height 0.115 mm
2025-04-24 15:48:19 [debug] Diagnostics for board 50:
2025-04-24 15:48:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:24 ago, cause: software
2025-04-24 15:48:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:19 [debug] Moves scheduled 44320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 4007584225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:19 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17770, writes 0 timeouts 0
2025-04-24 15:48:19 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36098/37133
2025-04-24 15:48:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:19 [info] currentZPosition:0.115
2025-04-24 15:48:19 [debug] Stopped at height 0.115 mm
2025-04-24 15:48:21 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:21 [debug] Diagnostics for board 50:
2025-04-24 15:48:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:26 ago, cause: software
2025-04-24 15:48:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:21 [debug] Moves scheduled 44326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4006333024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:48:21 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20990, writes 0 timeouts 0
2025-04-24 15:48:21 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36019/37119
2025-04-24 15:48:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9229, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:21 [info] currentZPosition:0.117
2025-04-24 15:48:21 [debug] Stopped at height 0.115 mm
2025-04-24 15:48:22 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:22 [debug] Diagnostics for board 50:
2025-04-24 15:48:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:27 ago, cause: software
2025-04-24 15:48:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:22 [debug] Moves scheduled 44332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 4005040657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:48:22 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21686, writes 0 timeouts 0
2025-04-24 15:48:22 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36113/37159
2025-04-24 15:48:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:23 [info] currentZPosition:0.116
2025-04-24 15:48:24 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:24 [debug] Diagnostics for board 50:
2025-04-24 15:48:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:50:29 ago, cause: software
2025-04-24 15:48:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:24 [debug] Moves scheduled 44336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 4004032564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:24 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16906, writes 0 timeouts 0
2025-04-24 15:48:24 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 35998/37164
2025-04-24 15:48:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9180, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:24 [info] currentZPosition:0.118
2025-04-24 15:48:24 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:25 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:25 [debug] Diagnostics for board 50:
2025-04-24 15:48:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:30 ago, cause: software
2025-04-24 15:48:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:25 [debug] Moves scheduled 44342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4002744261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:48:25 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21614, writes 0 timeouts 0
2025-04-24 15:48:25 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36249/37119
2025-04-24 15:48:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:26 [info] currentZPosition:0.116
2025-04-24 15:48:27 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:27 [debug] Diagnostics for board 50:
2025-04-24 15:48:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:32 ago, cause: software
2025-04-24 15:48:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:27 [debug] Moves scheduled 44346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 4001723414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:48:27 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17126, writes 0 timeouts 0
2025-04-24 15:48:27 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36021/37095
2025-04-24 15:48:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9162, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:27 [info] currentZPosition:0.118
2025-04-24 15:48:27 [debug] Stopped at height 0.119 mm
2025-04-24 15:48:29 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:29 [debug] Diagnostics for board 50:
2025-04-24 15:48:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:33 ago, cause: software
2025-04-24 15:48:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:29 [debug] Moves scheduled 44352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 4000445037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:48:29 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21442, writes 0 timeouts 0
2025-04-24 15:48:29 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36308/37142
2025-04-24 15:48:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:29 [info] currentZPosition:0.117
2025-04-24 15:48:29 [debug] Stopped at height 0.115 mm
2025-04-24 15:48:30 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:30 [debug] Diagnostics for board 50:
2025-04-24 15:48:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:50:35 ago, cause: software
2025-04-24 15:48:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:30 [debug] Moves scheduled 44358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3999145132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:30 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21804, writes 0 timeouts 0
2025-04-24 15:48:30 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36046/37150
2025-04-24 15:48:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:30 [info] currentZPosition:0.117
2025-04-24 15:48:32 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:32 [debug] Diagnostics for board 50:
2025-04-24 15:48:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:37 ago, cause: software
2025-04-24 15:48:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:32 [debug] Moves scheduled 44362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3998104407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:48:32 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17476, writes 0 timeouts 0
2025-04-24 15:48:32 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36302/37124
2025-04-24 15:48:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:32 [info] currentZPosition:0.116
2025-04-24 15:48:33 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:33 [debug] Diagnostics for board 50:
2025-04-24 15:48:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:38 ago, cause: software
2025-04-24 15:48:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:33 [debug] Moves scheduled 44366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3997089185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:33 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17008, writes 0 timeouts 0
2025-04-24 15:48:33 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36070/37171
2025-04-24 15:48:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:33 [info] currentZPosition:0.118
2025-04-24 15:48:33 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:35 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:35 [debug] Diagnostics for board 50:
2025-04-24 15:48:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:40 ago, cause: software
2025-04-24 15:48:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:35 [debug] Moves scheduled 44372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3995833315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:35 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21084, writes 0 timeouts 0
2025-04-24 15:48:35 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36350/37171
2025-04-24 15:48:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9170, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:35 [info] currentZPosition:0.118
2025-04-24 15:48:35 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:36 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:36 [debug] Diagnostics for board 50:
2025-04-24 15:48:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:41 ago, cause: software
2025-04-24 15:48:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:36 [debug] Moves scheduled 44378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3994523304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:36 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21977, writes 0 timeouts 0
2025-04-24 15:48:36 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 35998/37166
2025-04-24 15:48:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9207, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:37 [info] currentZPosition:0.117
2025-04-24 15:48:38 [debug] Stopped at height 0.119 mm
2025-04-24 15:48:38 [debug] Diagnostics for board 50:
2025-04-24 15:48:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:43 ago, cause: software
2025-04-24 15:48:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:38 [debug] Moves scheduled 44382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 2/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3993529818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:48:38 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16679, writes 0 timeouts 0
2025-04-24 15:48:38 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36331/37096
2025-04-24 15:48:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9151, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:38 [info] currentZPosition:0.119
2025-04-24 15:48:38 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:40 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:40 [debug] Diagnostics for board 50:
2025-04-24 15:48:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:50:44 ago, cause: software
2025-04-24 15:48:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:40 [debug] Moves scheduled 44388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3992192462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:48:40 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22440, writes 0 timeouts 0
2025-04-24 15:48:40 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36039/37168
2025-04-24 15:48:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:40 [info] currentZPosition:0.117
2025-04-24 15:48:40 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:41 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:41 [debug] Diagnostics for board 50:
2025-04-24 15:48:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:46 ago, cause: software
2025-04-24 15:48:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:41 [debug] Moves scheduled 44394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 98, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3990944559 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:48:41 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20944, writes 0 timeouts 0
2025-04-24 15:48:41 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36287/37128
2025-04-24 15:48:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:41 [info] currentZPosition:0.117
2025-04-24 15:48:43 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:43 [debug] Diagnostics for board 50:
2025-04-24 15:48:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:48 ago, cause: software
2025-04-24 15:48:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:43 [debug] Moves scheduled 44398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3989908922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:43 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17363, writes 0 timeouts 0
2025-04-24 15:48:43 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36013/37122
2025-04-24 15:48:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9231, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:43 [info] currentZPosition:0.118
2025-04-24 15:48:44 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:44 [debug] Diagnostics for board 50:
2025-04-24 15:48:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:49 ago, cause: software
2025-04-24 15:48:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:44 [debug] Moves scheduled 44402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3988857240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:48:44 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17652, writes 0 timeouts 0
2025-04-24 15:48:44 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 340, adv 36360/37144
2025-04-24 15:48:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:44 [info] currentZPosition:0.117
2025-04-24 15:48:44 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:46 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:46 [debug] Diagnostics for board 50:
2025-04-24 15:48:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:51 ago, cause: software
2025-04-24 15:48:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:46 [debug] Moves scheduled 44408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3987587906 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:48:46 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21298, writes 0 timeouts 0
2025-04-24 15:48:46 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36004/37115
2025-04-24 15:48:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:46 [info] currentZPosition:0.118
2025-04-24 15:48:46 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:47 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:47 [debug] Diagnostics for board 50:
2025-04-24 15:48:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:52 ago, cause: software
2025-04-24 15:48:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:47 [debug] Moves scheduled 44414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3986293935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:48:47 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21729, writes 0 timeouts 0
2025-04-24 15:48:47 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36318/37124
2025-04-24 15:48:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:48 [info] currentZPosition:0.116
2025-04-24 15:48:49 [debug] Stopped at height 0.119 mm
2025-04-24 15:48:49 [debug] Diagnostics for board 50:
2025-04-24 15:48:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:50:54 ago, cause: software
2025-04-24 15:48:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:49 [debug] Moves scheduled 44418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3985297305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:48:49 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16703, writes 0 timeouts 0
2025-04-24 15:48:49 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36061/37149
2025-04-24 15:48:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9121, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:49 [info] currentZPosition:0.119
2025-04-24 15:48:49 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:50 [debug] Stopped at height 0.119 mm
2025-04-24 15:48:50 [debug] Diagnostics for board 50:
2025-04-24 15:48:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:50:55 ago, cause: software
2025-04-24 15:48:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:50 [debug] Moves scheduled 44424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 59, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3984038509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:48:50 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21141, writes 0 timeouts 0
2025-04-24 15:48:50 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36336/37115
2025-04-24 15:48:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:51 [info] currentZPosition:0.119
2025-04-24 15:48:51 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:52 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:52 [debug] Diagnostics for board 50:
2025-04-24 15:48:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:50:57 ago, cause: software
2025-04-24 15:48:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:52 [debug] Moves scheduled 44430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3982712495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:48:52 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22259, writes 0 timeouts 0
2025-04-24 15:48:52 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36058/37107
2025-04-24 15:48:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:52 [info] currentZPosition:0.118
2025-04-24 15:48:54 [debug] Stopped at height 0.118 mm
2025-04-24 15:48:54 [debug] Diagnostics for board 50:
2025-04-24 15:48:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:50:58 ago, cause: software
2025-04-24 15:48:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:54 [debug] Moves scheduled 44434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3981705879 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:48:54 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16859, writes 0 timeouts 0
2025-04-24 15:48:54 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36316/37116
2025-04-24 15:48:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9228, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:54 [info] currentZPosition:0.118
2025-04-24 15:48:55 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:55 [debug] Diagnostics for board 50:
2025-04-24 15:48:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:51:00 ago, cause: software
2025-04-24 15:48:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:55 [debug] Moves scheduled 44438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 100, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3980623477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:48:55 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18167, writes 0 timeouts 0
2025-04-24 15:48:55 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36069/37121
2025-04-24 15:48:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:55 [info] currentZPosition:0.117
2025-04-24 15:48:55 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:57 [debug] Stopped at height 0.116 mm
2025-04-24 15:48:57 [debug] Diagnostics for board 50:
2025-04-24 15:48:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:02 ago, cause: software
2025-04-24 15:48:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:57 [debug] Moves scheduled 44444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3979332726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:57 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21672, writes 0 timeouts 0
2025-04-24 15:48:57 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36321/37159
2025-04-24 15:48:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9349, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:57 [info] currentZPosition:0.116
2025-04-24 15:48:58 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:58 [debug] Diagnostics for board 50:
2025-04-24 15:48:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:03 ago, cause: software
2025-04-24 15:48:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:58 [debug] Moves scheduled 44448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3978292717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:48:58 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17420, writes 0 timeouts 0
2025-04-24 15:48:58 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36018/37172
2025-04-24 15:48:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:48:58 [info] currentZPosition:0.117
2025-04-24 15:48:59 [debug] Stopped at height 0.117 mm
2025-04-24 15:48:59 [debug] Diagnostics for board 50:
2025-04-24 15:48:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:48:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:51:04 ago, cause: software
2025-04-24 15:48:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:48:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:48:59 [debug] Moves scheduled 44452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 110, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3977262177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:48:59 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17291, writes 0 timeouts 0
2025-04-24 15:48:59 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36349/37164
2025-04-24 15:48:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:00 [info] currentZPosition:0.117
2025-04-24 15:49:01 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:01 [debug] Diagnostics for board 50:
2025-04-24 15:49:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:06 ago, cause: software
2025-04-24 15:49:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:01 [debug] Moves scheduled 44456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3976241942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:49:01 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17139, writes 0 timeouts 0
2025-04-24 15:49:01 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36027/37138
2025-04-24 15:49:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9231, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:01 [info] currentZPosition:0.118
2025-04-24 15:49:01 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:02 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:02 [debug] Diagnostics for board 50:
2025-04-24 15:49:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:07 ago, cause: software
2025-04-24 15:49:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:02 [debug] Moves scheduled 44462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 102, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3974990256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:49:02 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20989, writes 0 timeouts 0
2025-04-24 15:49:02 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36298/37161
2025-04-24 15:49:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9217, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:03 [info] currentZPosition:0.118
2025-04-24 15:49:03 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:04 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:04 [debug] Diagnostics for board 50:
2025-04-24 15:49:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:09 ago, cause: software
2025-04-24 15:49:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:04 [debug] Moves scheduled 44468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3973700741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:49:04 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21629, writes 0 timeouts 0
2025-04-24 15:49:04 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36020/37133
2025-04-24 15:49:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9208, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:04 [info] currentZPosition:0.118
2025-04-24 15:49:06 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:06 [debug] Diagnostics for board 50:
2025-04-24 15:49:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:51:10 ago, cause: software
2025-04-24 15:49:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:06 [debug] Moves scheduled 44472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3972690484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:49:06 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16978, writes 0 timeouts 0
2025-04-24 15:49:06 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36350/37124
2025-04-24 15:49:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:06 [info] currentZPosition:0.119
2025-04-24 15:49:07 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:07 [debug] Diagnostics for board 50:
2025-04-24 15:49:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:51:12 ago, cause: software
2025-04-24 15:49:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:07 [debug] Moves scheduled 44476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 67, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3971615718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:49:07 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18021, writes 0 timeouts 0
2025-04-24 15:49:07 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36024/37121
2025-04-24 15:49:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9196, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:07 [info] currentZPosition:0.118
2025-04-24 15:49:08 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:08 [debug] Diagnostics for board 50:
2025-04-24 15:49:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:13 ago, cause: software
2025-04-24 15:49:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:08 [debug] Moves scheduled 44480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3970595821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:49:08 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17110, writes 0 timeouts 0
2025-04-24 15:49:08 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36316/37169
2025-04-24 15:49:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9196, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:08 [info] currentZPosition:0.119
2025-04-24 15:49:10 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:10 [debug] Diagnostics for board 50:
2025-04-24 15:49:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:15 ago, cause: software
2025-04-24 15:49:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:10 [debug] Moves scheduled 44484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3969548495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:49:10 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17568, writes 0 timeouts 0
2025-04-24 15:49:10 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36024/37117
2025-04-24 15:49:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:10 [info] currentZPosition:0.119
2025-04-24 15:49:11 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:11 [debug] Diagnostics for board 50:
2025-04-24 15:49:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:16 ago, cause: software
2025-04-24 15:49:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:11 [debug] Moves scheduled 44488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3968520539 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:49:11 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17245, writes 0 timeouts 0
2025-04-24 15:49:11 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36300/37113
2025-04-24 15:49:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9207, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:11 [info] currentZPosition:0.119
2025-04-24 15:49:13 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:13 [debug] Diagnostics for board 50:
2025-04-24 15:49:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:17 ago, cause: software
2025-04-24 15:49:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:13 [debug] Moves scheduled 44492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3967439414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:49:13 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18156, writes 0 timeouts 0
2025-04-24 15:49:13 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36030/37123
2025-04-24 15:49:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:13 [info] currentZPosition:0.117
2025-04-24 15:49:13 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:14 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:14 [debug] Diagnostics for board 50:
2025-04-24 15:49:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:51:19 ago, cause: software
2025-04-24 15:49:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:14 [debug] Moves scheduled 44498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3966229699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:49:14 [debug] Driver 0: pos -3520, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20313, writes 0 timeouts 0
2025-04-24 15:49:14 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36325/37156
2025-04-24 15:49:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9110, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:14 [info] currentZPosition:0.120
2025-04-24 15:49:15 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:16 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:16 [debug] Diagnostics for board 50:
2025-04-24 15:49:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:21 ago, cause: software
2025-04-24 15:49:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:16 [debug] Moves scheduled 44504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3964909340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:49:16 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22141, writes 0 timeouts 0
2025-04-24 15:49:16 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36030/37170
2025-04-24 15:49:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:16 [info] currentZPosition:0.119
2025-04-24 15:49:17 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:17 [debug] Diagnostics for board 50:
2025-04-24 15:49:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:51:22 ago, cause: software
2025-04-24 15:49:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:17 [debug] Moves scheduled 44508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3963849164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:49:17 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17800, writes 0 timeouts 0
2025-04-24 15:49:17 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36359/37110
2025-04-24 15:49:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:17 [info] currentZPosition:0.117
2025-04-24 15:49:18 [debug] Stopped at height 0.116 mm
2025-04-24 15:49:18 [debug] Stopped at height 0.116 mm
2025-04-24 15:49:19 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:19 [debug] Diagnostics for board 50:
2025-04-24 15:49:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:24 ago, cause: software
2025-04-24 15:49:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:19 [debug] Moves scheduled 44516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3962338657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:49:19 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25350, writes 0 timeouts 0
2025-04-24 15:49:19 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36051/37135
2025-04-24 15:49:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9184, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:19 [info] currentZPosition:0.119
2025-04-24 15:49:20 [debug] Stopped at height 0.116 mm
2025-04-24 15:49:21 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:21 [debug] Diagnostics for board 50:
2025-04-24 15:49:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:26 ago, cause: software
2025-04-24 15:49:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:21 [debug] Moves scheduled 44522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 80, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3961044752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:49:21 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21698, writes 0 timeouts 0
2025-04-24 15:49:21 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36297/37157
2025-04-24 15:49:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:21 [info] currentZPosition:0.117
2025-04-24 15:49:22 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:22 [debug] Diagnostics for board 50:
2025-04-24 15:49:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:27 ago, cause: software
2025-04-24 15:49:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:22 [debug] Moves scheduled 44526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3960039192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:49:22 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16880, writes 0 timeouts 0
2025-04-24 15:49:22 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36062/37132
2025-04-24 15:49:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:23 [info] currentZPosition:0.119
2025-04-24 15:49:23 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:24 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:24 [debug] Diagnostics for board 50:
2025-04-24 15:49:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:29 ago, cause: software
2025-04-24 15:49:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:24 [debug] Moves scheduled 44532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -3/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3958774409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:49:24 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21228, writes 0 timeouts 0
2025-04-24 15:49:24 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36218/37135
2025-04-24 15:49:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:24 [info] currentZPosition:0.119
2025-04-24 15:49:26 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:26 [debug] Diagnostics for board 50:
2025-04-24 15:49:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:30 ago, cause: software
2025-04-24 15:49:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:26 [debug] Moves scheduled 44536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 1/4, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3957715305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:49:26 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17771, writes 0 timeouts 0
2025-04-24 15:49:26 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35998/37150
2025-04-24 15:49:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9234, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:26 [info] currentZPosition:0.119
2025-04-24 15:49:27 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:27 [debug] Diagnostics for board 50:
2025-04-24 15:49:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:32 ago, cause: software
2025-04-24 15:49:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:27 [debug] Moves scheduled 44540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3956672552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:49:27 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17495, writes 0 timeouts 0
2025-04-24 15:49:27 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 340, adv 36125/37130
2025-04-24 15:49:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:27 [info] currentZPosition:0.118
2025-04-24 15:49:28 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:28 [debug] Diagnostics for board 50:
2025-04-24 15:49:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:33 ago, cause: software
2025-04-24 15:49:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:28 [debug] Moves scheduled 44544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3955619118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:49:28 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17661, writes 0 timeouts 0
2025-04-24 15:49:28 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36059/37125
2025-04-24 15:49:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:28 [info] currentZPosition:0.118
2025-04-24 15:49:30 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:30 [debug] Diagnostics for board 50:
2025-04-24 15:49:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:35 ago, cause: software
2025-04-24 15:49:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:30 [debug] Moves scheduled 44548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 111, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3954606261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:49:30 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16988, writes 0 timeouts 0
2025-04-24 15:49:30 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36101/37143
2025-04-24 15:49:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:30 [info] currentZPosition:0.118
2025-04-24 15:49:31 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:31 [debug] Diagnostics for board 50:
2025-04-24 15:49:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:36 ago, cause: software
2025-04-24 15:49:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:31 [debug] Moves scheduled 44552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 116, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3953578736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:49:31 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17253, writes 0 timeouts 0
2025-04-24 15:49:31 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36005/37158
2025-04-24 15:49:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9166, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:31 [info] currentZPosition:0.120
2025-04-24 15:49:32 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:33 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:33 [debug] Diagnostics for board 50:
2025-04-24 15:49:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:38 ago, cause: software
2025-04-24 15:49:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:33 [debug] Moves scheduled 44558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 117, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3952267578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:49:33 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21988, writes 0 timeouts 0
2025-04-24 15:49:33 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36100/37147
2025-04-24 15:49:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:33 [info] currentZPosition:0.117
2025-04-24 15:49:34 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:34 [debug] Diagnostics for board 50:
2025-04-24 15:49:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:51:39 ago, cause: software
2025-04-24 15:49:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:34 [debug] Moves scheduled 44562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 110, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3951262958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:49:34 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16875, writes 0 timeouts 0
2025-04-24 15:49:34 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36049/37123
2025-04-24 15:49:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9148, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:34 [info] currentZPosition:0.120
2025-04-24 15:49:35 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:36 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:36 [debug] Diagnostics for board 50:
2025-04-24 15:49:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:41 ago, cause: software
2025-04-24 15:49:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:36 [debug] Moves scheduled 44568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3949976781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:49:36 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21567, writes 0 timeouts 0
2025-04-24 15:49:36 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36097/37123
2025-04-24 15:49:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9233, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:36 [info] currentZPosition:0.119
2025-04-24 15:49:37 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:37 [debug] Diagnostics for board 50:
2025-04-24 15:49:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:42 ago, cause: software
2025-04-24 15:49:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:37 [debug] Moves scheduled 44572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3948941887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:49:37 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17383, writes 0 timeouts 0
2025-04-24 15:49:37 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36008/37080
2025-04-24 15:49:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9100, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:37 [info] currentZPosition:0.120
2025-04-24 15:49:39 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:39 [debug] Diagnostics for board 50:
2025-04-24 15:49:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:43 ago, cause: software
2025-04-24 15:49:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:39 [debug] Moves scheduled 44576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3947918982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:49:39 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17195, writes 0 timeouts 0
2025-04-24 15:49:39 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36117/37118
2025-04-24 15:49:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:39 [info] currentZPosition:0.120
2025-04-24 15:49:40 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:40 [debug] Diagnostics for board 50:
2025-04-24 15:49:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:45 ago, cause: software
2025-04-24 15:49:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:40 [debug] Moves scheduled 44580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3946822517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:49:40 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18383, writes 0 timeouts 0
2025-04-24 15:49:40 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36033/37092
2025-04-24 15:49:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:40 [info] currentZPosition:0.118
2025-04-24 15:49:41 [debug] Stopped at height 0.116 mm
2025-04-24 15:49:41 [debug] Stopped at height 0.115 mm
2025-04-24 15:49:42 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:42 [debug] Diagnostics for board 50:
2025-04-24 15:49:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:47 ago, cause: software
2025-04-24 15:49:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:42 [debug] Moves scheduled 44588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3945323966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:49:42 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25115, writes 0 timeouts 0
2025-04-24 15:49:42 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36141/37149
2025-04-24 15:49:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9236, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:42 [info] currentZPosition:0.119
2025-04-24 15:49:42 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:44 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:44 [debug] Diagnostics for board 50:
2025-04-24 15:49:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:49 ago, cause: software
2025-04-24 15:49:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:44 [debug] Moves scheduled 44594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 88, peak jitter 2/4, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3944013159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:49:44 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22046, writes 0 timeouts 0
2025-04-24 15:49:44 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36064/37119
2025-04-24 15:49:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:44 [info] currentZPosition:0.118
2025-04-24 15:49:45 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:45 [debug] Diagnostics for board 50:
2025-04-24 15:49:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:51:50 ago, cause: software
2025-04-24 15:49:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:45 [debug] Moves scheduled 44598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 102, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3943028900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:49:45 [debug] Driver 0: pos -3524, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16486, writes 0 timeouts 0
2025-04-24 15:49:45 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36090/37160
2025-04-24 15:49:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:45 [info] currentZPosition:0.120
2025-04-24 15:49:46 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:47 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:47 [debug] Diagnostics for board 50:
2025-04-24 15:49:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:51:52 ago, cause: software
2025-04-24 15:49:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:47 [debug] Moves scheduled 44604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3941716114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:49:47 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22012, writes 0 timeouts 0
2025-04-24 15:49:47 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36004/37131
2025-04-24 15:49:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9229, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:47 [info] currentZPosition:0.119
2025-04-24 15:49:47 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:49 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:49 [debug] Diagnostics for board 50:
2025-04-24 15:49:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:51:53 ago, cause: software
2025-04-24 15:49:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:49 [debug] Moves scheduled 44610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 122, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3940480402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:49:49 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20782, writes 0 timeouts 0
2025-04-24 15:49:49 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36110/37125
2025-04-24 15:49:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:49 [info] currentZPosition:0.120
2025-04-24 15:49:49 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:50 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:50 [debug] Diagnostics for board 50:
2025-04-24 15:49:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:51:55 ago, cause: software
2025-04-24 15:49:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:50 [debug] Moves scheduled 44616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 124, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3939158686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:49:50 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22143, writes 0 timeouts 0
2025-04-24 15:49:50 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36007/37095
2025-04-24 15:49:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:50 [info] currentZPosition:0.118
2025-04-24 15:49:51 [debug] Stopped at height 0.116 mm
2025-04-24 15:49:52 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:52 [debug] Diagnostics for board 50:
2025-04-24 15:49:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:57 ago, cause: software
2025-04-24 15:49:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:52 [debug] Moves scheduled 44622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 125, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3937894587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:49:52 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21214, writes 0 timeouts 0
2025-04-24 15:49:52 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36078/37094
2025-04-24 15:49:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:52 [info] currentZPosition:0.118
2025-04-24 15:49:52 [debug] Stopped at height 0.116 mm
2025-04-24 15:49:54 [debug] Stopped at height 0.119 mm
2025-04-24 15:49:54 [debug] Diagnostics for board 50:
2025-04-24 15:49:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:51:59 ago, cause: software
2025-04-24 15:49:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:54 [debug] Moves scheduled 44628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 121, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3936632103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:49:54 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21196, writes 0 timeouts 0
2025-04-24 15:49:54 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36052/37149
2025-04-24 15:49:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:54 [info] currentZPosition:0.119
2025-04-24 15:49:54 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:55 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:55 [debug] Diagnostics for board 50:
2025-04-24 15:49:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:00 ago, cause: software
2025-04-24 15:49:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:55 [debug] Moves scheduled 44634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 111, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3935363225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:49:55 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21289, writes 0 timeouts 0
2025-04-24 15:49:55 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36067/37121
2025-04-24 15:49:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:55 [info] currentZPosition:0.118
2025-04-24 15:49:56 [debug] Stopped at height 0.117 mm
2025-04-24 15:49:57 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:57 [debug] Diagnostics for board 50:
2025-04-24 15:49:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:52:02 ago, cause: software
2025-04-24 15:49:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:57 [debug] Moves scheduled 44640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 103, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3934100732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:49:57 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21196, writes 0 timeouts 0
2025-04-24 15:49:57 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36039/37159
2025-04-24 15:49:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9144, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:57 [info] currentZPosition:0.120
2025-04-24 15:49:57 [debug] Stopped at height 0.118 mm
2025-04-24 15:49:59 [debug] Stopped at height 0.120 mm
2025-04-24 15:49:59 [debug] Diagnostics for board 50:
2025-04-24 15:49:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:49:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:04 ago, cause: software
2025-04-24 15:49:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:49:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:49:59 [debug] Moves scheduled 44646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 88, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3932844794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:49:59 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21071, writes 0 timeouts 0
2025-04-24 15:49:59 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36106/37129
2025-04-24 15:49:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9130, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:49:59 [info] currentZPosition:0.120
2025-04-24 15:49:59 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:00 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:00 [debug] Diagnostics for board 50:
2025-04-24 15:50:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:05 ago, cause: software
2025-04-24 15:50:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:00 [debug] Moves scheduled 44652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -4/-2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3931536085 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:50:00 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21949, writes 0 timeouts 0
2025-04-24 15:50:00 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36004/37150
2025-04-24 15:50:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9223, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:01 [info] currentZPosition:0.119
2025-04-24 15:50:02 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:02 [debug] Diagnostics for board 50:
2025-04-24 15:50:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:07 ago, cause: software
2025-04-24 15:50:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:02 [debug] Moves scheduled 44656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3930529297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:50:02 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16884, writes 0 timeouts 0
2025-04-24 15:50:02 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36073/37147
2025-04-24 15:50:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9181, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:02 [info] currentZPosition:0.120
2025-04-24 15:50:03 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:03 [debug] Diagnostics for board 50:
2025-04-24 15:50:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:08 ago, cause: software
2025-04-24 15:50:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:03 [debug] Moves scheduled 44660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3929462263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:03 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17912, writes 0 timeouts 0
2025-04-24 15:50:03 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36005/37104
2025-04-24 15:50:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:03 [info] currentZPosition:0.119
2025-04-24 15:50:05 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:05 [debug] Diagnostics for board 50:
2025-04-24 15:50:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:09 ago, cause: software
2025-04-24 15:50:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:05 [debug] Moves scheduled 44664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3928426384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:05 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17388, writes 0 timeouts 0
2025-04-24 15:50:05 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36101/37118
2025-04-24 15:50:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:05 [info] currentZPosition:0.118
2025-04-24 15:50:06 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:06 [debug] Diagnostics for board 50:
2025-04-24 15:50:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:52:11 ago, cause: software
2025-04-24 15:50:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:06 [debug] Moves scheduled 44668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3927386723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:06 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17437, writes 0 timeouts 0
2025-04-24 15:50:06 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36055/37087
2025-04-24 15:50:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:06 [info] currentZPosition:0.119
2025-04-24 15:50:07 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:07 [debug] Diagnostics for board 50:
2025-04-24 15:50:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:12 ago, cause: software
2025-04-24 15:50:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:07 [debug] Moves scheduled 44672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3926383529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:50:07 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16839, writes 0 timeouts 0
2025-04-24 15:50:07 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36081/37147
2025-04-24 15:50:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9198, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:07 [info] currentZPosition:0.120
2025-04-24 15:50:09 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:09 [debug] Diagnostics for board 50:
2025-04-24 15:50:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:14 ago, cause: software
2025-04-24 15:50:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:09 [debug] Moves scheduled 44676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 86, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3925318425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:50:09 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17871, writes 0 timeouts 0
2025-04-24 15:50:09 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36025/37100
2025-04-24 15:50:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:09 [info] currentZPosition:0.119
2025-04-24 15:50:10 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:10 [debug] Diagnostics for board 50:
2025-04-24 15:50:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:15 ago, cause: software
2025-04-24 15:50:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:10 [debug] Moves scheduled 44680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter 0/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3924307509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:10 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16961, writes 0 timeouts 0
2025-04-24 15:50:10 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36096/37109
2025-04-24 15:50:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9198, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:10 [info] currentZPosition:0.120
2025-04-24 15:50:11 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:11 [debug] Diagnostics for board 50:
2025-04-24 15:50:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:16 ago, cause: software
2025-04-24 15:50:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:11 [debug] Moves scheduled 44684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3923267590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:50:11 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17470, writes 0 timeouts 0
2025-04-24 15:50:11 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36022/37100
2025-04-24 15:50:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9134, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:12 [info] currentZPosition:0.121
2025-04-24 15:50:13 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:13 [debug] Diagnostics for board 50:
2025-04-24 15:50:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:18 ago, cause: software
2025-04-24 15:50:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:13 [debug] Moves scheduled 44688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3922226114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:50:13 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17468, writes 0 timeouts 0
2025-04-24 15:50:13 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36065/37123
2025-04-24 15:50:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9202, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:13 [info] currentZPosition:0.120
2025-04-24 15:50:14 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:14 [debug] Diagnostics for board 50:
2025-04-24 15:50:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:19 ago, cause: software
2025-04-24 15:50:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:14 [debug] Moves scheduled 44692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3921179783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:50:14 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17570, writes 0 timeouts 0
2025-04-24 15:50:14 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36044/37098
2025-04-24 15:50:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:14 [info] currentZPosition:0.120
2025-04-24 15:50:16 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:16 [debug] Diagnostics for board 50:
2025-04-24 15:50:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:21 ago, cause: software
2025-04-24 15:50:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:16 [debug] Moves scheduled 44696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3920133545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:50:16 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17548, writes 0 timeouts 0
2025-04-24 15:50:16 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36037/37112
2025-04-24 15:50:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9238, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:16 [info] currentZPosition:0.119
2025-04-24 15:50:17 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:17 [debug] Diagnostics for board 50:
2025-04-24 15:50:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:22 ago, cause: software
2025-04-24 15:50:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:17 [debug] Moves scheduled 44700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3919087015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:17 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17558, writes 0 timeouts 0
2025-04-24 15:50:17 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36020/37139
2025-04-24 15:50:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9192, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:17 [info] currentZPosition:0.120
2025-04-24 15:50:18 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:18 [debug] Diagnostics for board 50:
2025-04-24 15:50:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:23 ago, cause: software
2025-04-24 15:50:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:18 [debug] Moves scheduled 44704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3918081350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:50:18 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16875, writes 0 timeouts 0
2025-04-24 15:50:18 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36072/37130
2025-04-24 15:50:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9169, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:18 [info] currentZPosition:0.121
2025-04-24 15:50:20 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:20 [debug] Diagnostics for board 50:
2025-04-24 15:50:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:52:25 ago, cause: software
2025-04-24 15:50:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:20 [debug] Moves scheduled 44708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3916982883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:20 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18437, writes 0 timeouts 0
2025-04-24 15:50:20 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36070/37143
2025-04-24 15:50:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:20 [info] currentZPosition:0.119
2025-04-24 15:50:20 [debug] Stopped at height 0.116 mm
2025-04-24 15:50:21 [debug] Stopped at height 0.115 mm
2025-04-24 15:50:22 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:22 [debug] Diagnostics for board 50:
2025-04-24 15:50:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:27 ago, cause: software
2025-04-24 15:50:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:22 [debug] Moves scheduled 44716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3915496901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:50:22 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24932, writes 0 timeouts 0
2025-04-24 15:50:22 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36181/37137
2025-04-24 15:50:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9222, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:22 [info] currentZPosition:0.120
2025-04-24 15:50:22 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:24 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:24 [debug] Diagnostics for board 50:
2025-04-24 15:50:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:28 ago, cause: software
2025-04-24 15:50:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:24 [debug] Moves scheduled 44722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3914182641 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:50:24 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22056, writes 0 timeouts 0
2025-04-24 15:50:24 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36022/37170
2025-04-24 15:50:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:24 [info] currentZPosition:0.119
2025-04-24 15:50:25 [debug] Stopped at height 0.117 mm
2025-04-24 15:50:25 [debug] Diagnostics for board 50:
2025-04-24 15:50:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:52:30 ago, cause: software
2025-04-24 15:50:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:25 [debug] Moves scheduled 44726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3913126586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:50:25 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17706, writes 0 timeouts 0
2025-04-24 15:50:25 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36354/37138
2025-04-24 15:50:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9364, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:25 [info] currentZPosition:0.117
2025-04-24 15:50:25 [debug] Stopped at height 0.117 mm
2025-04-24 15:50:27 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:27 [debug] Diagnostics for board 50:
2025-04-24 15:50:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:32 ago, cause: software
2025-04-24 15:50:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:27 [debug] Moves scheduled 44732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3911883409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:50:27 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20888, writes 0 timeouts 0
2025-04-24 15:50:27 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36004/37136
2025-04-24 15:50:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9192, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:27 [info] currentZPosition:0.120
2025-04-24 15:50:27 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:28 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:28 [debug] Diagnostics for board 50:
2025-04-24 15:50:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:33 ago, cause: software
2025-04-24 15:50:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:28 [debug] Moves scheduled 44738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3910630316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:50:28 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21006, writes 0 timeouts 0
2025-04-24 15:50:28 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36341/37174
2025-04-24 15:50:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9203, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:28 [info] currentZPosition:0.120
2025-04-24 15:50:29 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:30 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:30 [debug] Diagnostics for board 50:
2025-04-24 15:50:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:35 ago, cause: software
2025-04-24 15:50:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:30 [debug] Moves scheduled 44744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3909334317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:30 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21751, writes 0 timeouts 0
2025-04-24 15:50:30 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36039/37107
2025-04-24 15:50:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:30 [info] currentZPosition:0.119
2025-04-24 15:50:31 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:31 [debug] Diagnostics for board 50:
2025-04-24 15:50:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:36 ago, cause: software
2025-04-24 15:50:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:31 [debug] Moves scheduled 44748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 86, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3908333975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:31 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16819, writes 0 timeouts 0
2025-04-24 15:50:31 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36335/37093
2025-04-24 15:50:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9164, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:31 [info] currentZPosition:0.121
2025-04-24 15:50:32 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:33 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:33 [debug] Diagnostics for board 50:
2025-04-24 15:50:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:38 ago, cause: software
2025-04-24 15:50:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:33 [debug] Moves scheduled 44754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3907010135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:50:33 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22176, writes 0 timeouts 0
2025-04-24 15:50:33 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 435, adv 36095/37098
2025-04-24 15:50:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:33 [info] currentZPosition:0.119
2025-04-24 15:50:34 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:34 [debug] Diagnostics for board 50:
2025-04-24 15:50:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:39 ago, cause: software
2025-04-24 15:50:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:34 [debug] Moves scheduled 44758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3905998935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:50:34 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16962, writes 0 timeouts 0
2025-04-24 15:50:34 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36296/37093
2025-04-24 15:50:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9235, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:35 [info] currentZPosition:0.120
2025-04-24 15:50:36 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:36 [debug] Diagnostics for board 50:
2025-04-24 15:50:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:41 ago, cause: software
2025-04-24 15:50:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:36 [debug] Moves scheduled 44762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3904932560 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:50:36 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17909, writes 0 timeouts 0
2025-04-24 15:50:36 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36051/37124
2025-04-24 15:50:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:36 [info] currentZPosition:0.119
2025-04-24 15:50:37 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:37 [debug] Diagnostics for board 50:
2025-04-24 15:50:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:42 ago, cause: software
2025-04-24 15:50:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:37 [debug] Moves scheduled 44766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3903941173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:50:37 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16619, writes 0 timeouts 0
2025-04-24 15:50:37 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36325/37113
2025-04-24 15:50:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:37 [info] currentZPosition:0.121
2025-04-24 15:50:38 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:39 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:39 [debug] Diagnostics for board 50:
2025-04-24 15:50:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:44 ago, cause: software
2025-04-24 15:50:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:39 [debug] Moves scheduled 44772, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3902615037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:50:39 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22237, writes 0 timeouts 0
2025-04-24 15:50:39 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36029/37120
2025-04-24 15:50:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:39 [info] currentZPosition:0.119
2025-04-24 15:50:40 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:40 [debug] Diagnostics for board 50:
2025-04-24 15:50:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:45 ago, cause: software
2025-04-24 15:50:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:40 [debug] Moves scheduled 44776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3901592545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:50:40 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17226, writes 0 timeouts 0
2025-04-24 15:50:40 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36319/37101
2025-04-24 15:50:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:40 [info] currentZPosition:0.119
2025-04-24 15:50:42 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:42 [debug] Diagnostics for board 50:
2025-04-24 15:50:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:52:47 ago, cause: software
2025-04-24 15:50:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:42 [debug] Moves scheduled 44780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3900564502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:50:42 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17184, writes 0 timeouts 0
2025-04-24 15:50:42 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36007/37083
2025-04-24 15:50:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:42 [info] currentZPosition:0.121
2025-04-24 15:50:42 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:44 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:44 [debug] Diagnostics for board 50:
2025-04-24 15:50:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:52:49 ago, cause: software
2025-04-24 15:50:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:44 [debug] Moves scheduled 44786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3899037187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:50:44 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25630, writes 0 timeouts 0
2025-04-24 15:50:44 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 26, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36345/37147
2025-04-24 15:50:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:44 [info] currentZPosition:0.120
2025-04-24 15:50:45 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:45 [debug] Diagnostics for board 50:
2025-04-24 15:50:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:52:50 ago, cause: software
2025-04-24 15:50:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:45 [debug] Moves scheduled 44790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3897995076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:45 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17483, writes 0 timeouts 0
2025-04-24 15:50:45 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36028/37115
2025-04-24 15:50:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9184, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:45 [info] currentZPosition:0.120
2025-04-24 15:50:46 [debug] Stopped at height 0.122 mm
2025-04-24 15:50:46 [debug] Diagnostics for board 50:
2025-04-24 15:50:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:52:51 ago, cause: software
2025-04-24 15:50:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:46 [debug] Moves scheduled 44794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3896992496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:50:46 [debug] Driver 0: pos -3519, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16844, writes 0 timeouts 0
2025-04-24 15:50:46 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36349/37112
2025-04-24 15:50:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9103, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:47 [info] currentZPosition:0.122
2025-04-24 15:50:47 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:47 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:49 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:49 [debug] Diagnostics for board 50:
2025-04-24 15:50:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:52:54 ago, cause: software
2025-04-24 15:50:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:49 [debug] Moves scheduled 44802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 88, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3895404592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:50:49 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26635, writes 0 timeouts 0
2025-04-24 15:50:49 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36017/37137
2025-04-24 15:50:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9243, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:49 [info] currentZPosition:0.120
2025-04-24 15:50:49 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:50 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:50 [debug] Diagnostics for board 50:
2025-04-24 15:50:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:55 ago, cause: software
2025-04-24 15:50:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:50 [debug] Moves scheduled 44808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 80, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3894136866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:50:50 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21261, writes 0 timeouts 0
2025-04-24 15:50:50 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 424, adv 36262/37159
2025-04-24 15:50:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:50 [info] currentZPosition:0.119
2025-04-24 15:50:52 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:52 [debug] Diagnostics for board 50:
2025-04-24 15:50:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:52:57 ago, cause: software
2025-04-24 15:50:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:52 [debug] Moves scheduled 44812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3893112708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:50:52 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17205, writes 0 timeouts 0
2025-04-24 15:50:52 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36023/37101
2025-04-24 15:50:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:52 [info] currentZPosition:0.121
2025-04-24 15:50:52 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:53 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:53 [debug] Diagnostics for board 50:
2025-04-24 15:50:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:52:58 ago, cause: software
2025-04-24 15:50:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:53 [debug] Moves scheduled 44818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -3/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3891848891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:50:53 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21156, writes 0 timeouts 0
2025-04-24 15:50:53 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36321/37118
2025-04-24 15:50:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9189, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:53 [info] currentZPosition:0.121
2025-04-24 15:50:54 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:55 [debug] Stopped at height 0.118 mm
2025-04-24 15:50:55 [debug] Diagnostics for board 50:
2025-04-24 15:50:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:53:00 ago, cause: software
2025-04-24 15:50:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:55 [debug] Moves scheduled 44824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3890517389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:50:55 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22353, writes 0 timeouts 0
2025-04-24 15:50:55 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 414, adv 35977/37120
2025-04-24 15:50:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:55 [info] currentZPosition:0.118
2025-04-24 15:50:56 [debug] Stopped at height 0.117 mm
2025-04-24 15:50:57 [debug] Stopped at height 0.120 mm
2025-04-24 15:50:57 [debug] Diagnostics for board 50:
2025-04-24 15:50:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:53:02 ago, cause: software
2025-04-24 15:50:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:57 [debug] Moves scheduled 44830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3889286411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:50:57 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20647, writes 0 timeouts 0
2025-04-24 15:50:57 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 417, adv 36268/37116
2025-04-24 15:50:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:57 [info] currentZPosition:0.120
2025-04-24 15:50:57 [debug] Stopped at height 0.119 mm
2025-04-24 15:50:58 [debug] Stopped at height 0.121 mm
2025-04-24 15:50:58 [debug] Diagnostics for board 50:
2025-04-24 15:50:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:50:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:03 ago, cause: software
2025-04-24 15:50:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:50:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:50:58 [debug] Moves scheduled 44836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3888011782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:50:58 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21406, writes 0 timeouts 0
2025-04-24 15:50:58 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36034/37095
2025-04-24 15:50:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9118, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:50:59 [info] currentZPosition:0.121
2025-04-24 15:50:59 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:00 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:00 [debug] Diagnostics for board 50:
2025-04-24 15:51:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:05 ago, cause: software
2025-04-24 15:51:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:00 [debug] Moves scheduled 44842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3886706871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:00 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21883, writes 0 timeouts 0
2025-04-24 15:51:00 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36298/37108
2025-04-24 15:51:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:00 [info] currentZPosition:0.119
2025-04-24 15:51:02 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:02 [debug] Diagnostics for board 50:
2025-04-24 15:51:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:06 ago, cause: software
2025-04-24 15:51:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:02 [debug] Moves scheduled 44846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3885675551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:51:02 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17315, writes 0 timeouts 0
2025-04-24 15:51:02 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36022/37120
2025-04-24 15:51:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9193, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:02 [info] currentZPosition:0.121
2025-04-24 15:51:02 [debug] Stopped at height 0.118 mm
2025-04-24 15:51:03 [debug] Stopped at height 0.118 mm
2025-04-24 15:51:03 [debug] Diagnostics for board 50:
2025-04-24 15:51:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:08 ago, cause: software
2025-04-24 15:51:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:03 [debug] Moves scheduled 44852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3884376134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:03 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21793, writes 0 timeouts 0
2025-04-24 15:51:03 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36351/37146
2025-04-24 15:51:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:03 [info] currentZPosition:0.118
2025-04-24 15:51:05 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:05 [debug] Diagnostics for board 50:
2025-04-24 15:51:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:10 ago, cause: software
2025-04-24 15:51:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:05 [debug] Moves scheduled 44856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3883338374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:05 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17417, writes 0 timeouts 0
2025-04-24 15:51:05 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36022/37110
2025-04-24 15:51:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:05 [info] currentZPosition:0.120
2025-04-24 15:51:06 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:06 [debug] Diagnostics for board 50:
2025-04-24 15:51:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:11 ago, cause: software
2025-04-24 15:51:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:06 [debug] Moves scheduled 44860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3882353592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:51:06 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16524, writes 0 timeouts 0
2025-04-24 15:51:06 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36284/37148
2025-04-24 15:51:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9114, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:06 [info] currentZPosition:0.122
2025-04-24 15:51:06 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:08 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:08 [debug] Diagnostics for board 50:
2025-04-24 15:51:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:13 ago, cause: software
2025-04-24 15:51:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:08 [debug] Moves scheduled 44866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3881039156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:08 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22048, writes 0 timeouts 0
2025-04-24 15:51:08 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36009/37144
2025-04-24 15:51:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9240, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:08 [info] currentZPosition:0.120
2025-04-24 15:51:09 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:09 [debug] Diagnostics for board 50:
2025-04-24 15:51:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:14 ago, cause: software
2025-04-24 15:51:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:09 [debug] Moves scheduled 44870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3880006295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:51:09 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17331, writes 0 timeouts 0
2025-04-24 15:51:09 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36361/37084
2025-04-24 15:51:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:09 [info] currentZPosition:0.120
2025-04-24 15:51:11 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:11 [debug] Diagnostics for board 50:
2025-04-24 15:51:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:15 ago, cause: software
2025-04-24 15:51:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:11 [debug] Moves scheduled 44874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3878946136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:51:11 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17810, writes 0 timeouts 0
2025-04-24 15:51:11 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36006/37098
2025-04-24 15:51:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:11 [info] currentZPosition:0.120
2025-04-24 15:51:12 [debug] Stopped at height 0.118 mm
2025-04-24 15:51:12 [debug] Diagnostics for board 50:
2025-04-24 15:51:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:17 ago, cause: software
2025-04-24 15:51:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:12 [debug] Moves scheduled 44878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3877894257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 15:51:12 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17614, writes 0 timeouts 0
2025-04-24 15:51:12 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36324/37138
2025-04-24 15:51:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9382, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:12 [info] currentZPosition:0.118
2025-04-24 15:51:12 [debug] Stopped at height 0.118 mm
2025-04-24 15:51:14 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:14 [debug] Diagnostics for board 50:
2025-04-24 15:51:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:19 ago, cause: software
2025-04-24 15:51:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:14 [debug] Moves scheduled 44884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3876656922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:14 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20751, writes 0 timeouts 0
2025-04-24 15:51:14 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36088/37126
2025-04-24 15:51:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9180, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:14 [info] currentZPosition:0.121
2025-04-24 15:51:14 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:15 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:15 [debug] Diagnostics for board 50:
2025-04-24 15:51:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:20 ago, cause: software
2025-04-24 15:51:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:15 [debug] Moves scheduled 44890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3875370108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 15:51:15 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21623, writes 0 timeouts 0
2025-04-24 15:51:15 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36297/37125
2025-04-24 15:51:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:15 [info] currentZPosition:0.120
2025-04-24 15:51:16 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:17 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:17 [debug] Diagnostics for board 50:
2025-04-24 15:51:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:22 ago, cause: software
2025-04-24 15:51:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:17 [debug] Moves scheduled 44896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3874068499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:17 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21816, writes 0 timeouts 0
2025-04-24 15:51:17 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 411, adv 36021/37134
2025-04-24 15:51:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9299, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:17 [info] currentZPosition:0.120
2025-04-24 15:51:18 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:18 [debug] Diagnostics for board 50:
2025-04-24 15:51:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:23 ago, cause: software
2025-04-24 15:51:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:18 [debug] Moves scheduled 44900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3873050881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:51:18 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17065, writes 0 timeouts 0
2025-04-24 15:51:18 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36316/37137
2025-04-24 15:51:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9248, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:19 [info] currentZPosition:0.120
2025-04-24 15:51:20 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:20 [debug] Diagnostics for board 50:
2025-04-24 15:51:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:25 ago, cause: software
2025-04-24 15:51:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:20 [debug] Moves scheduled 44904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3871984417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:51:20 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17921, writes 0 timeouts 0
2025-04-24 15:51:20 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36027/37169
2025-04-24 15:51:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:20 [info] currentZPosition:0.119
2025-04-24 15:51:21 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:21 [debug] Diagnostics for board 50:
2025-04-24 15:51:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:26 ago, cause: software
2025-04-24 15:51:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:21 [debug] Moves scheduled 44908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3870988218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:51:21 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16691, writes 0 timeouts 0
2025-04-24 15:51:21 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36232/37079
2025-04-24 15:51:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:21 [info] currentZPosition:0.121
2025-04-24 15:51:22 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:23 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:23 [debug] Diagnostics for board 50:
2025-04-24 15:51:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:28 ago, cause: software
2025-04-24 15:51:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:23 [debug] Moves scheduled 44914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3869670710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:51:23 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22093, writes 0 timeouts 0
2025-04-24 15:51:23 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36045/37122
2025-04-24 15:51:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:23 [info] currentZPosition:0.120
2025-04-24 15:51:24 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:24 [debug] Diagnostics for board 50:
2025-04-24 15:51:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:29 ago, cause: software
2025-04-24 15:51:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:24 [debug] Moves scheduled 44918, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3868661773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:24 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16952, writes 0 timeouts 0
2025-04-24 15:51:24 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36108/37102
2025-04-24 15:51:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:24 [info] currentZPosition:0.120
2025-04-24 15:51:26 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:26 [debug] Diagnostics for board 50:
2025-04-24 15:51:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:31 ago, cause: software
2025-04-24 15:51:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:26 [debug] Moves scheduled 44922, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3867617575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:51:26 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17513, writes 0 timeouts 0
2025-04-24 15:51:26 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36029/37123
2025-04-24 15:51:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:26 [info] currentZPosition:0.121
2025-04-24 15:51:27 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:27 [debug] Diagnostics for board 50:
2025-04-24 15:51:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:32 ago, cause: software
2025-04-24 15:51:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:27 [debug] Moves scheduled 44926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3866587133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:51:27 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17280, writes 0 timeouts 0
2025-04-24 15:51:27 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36081/37124
2025-04-24 15:51:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:27 [info] currentZPosition:0.121
2025-04-24 15:51:28 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:28 [debug] Diagnostics for board 50:
2025-04-24 15:51:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:33 ago, cause: software
2025-04-24 15:51:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:28 [debug] Moves scheduled 44930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3865535309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:28 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17654, writes 0 timeouts 0
2025-04-24 15:51:28 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36089/37157
2025-04-24 15:51:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:29 [info] currentZPosition:0.121
2025-04-24 15:51:30 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:30 [debug] Diagnostics for board 50:
2025-04-24 15:51:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:35 ago, cause: software
2025-04-24 15:51:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:30 [debug] Moves scheduled 44934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3864528766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:51:30 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16874, writes 0 timeouts 0
2025-04-24 15:51:30 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36092/37137
2025-04-24 15:51:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9163, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:30 [info] currentZPosition:0.122
2025-04-24 15:51:31 [debug] Stopped at height 0.123 mm
2025-04-24 15:51:31 [debug] Diagnostics for board 50:
2025-04-24 15:51:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:53:36 ago, cause: software
2025-04-24 15:51:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:31 [debug] Moves scheduled 44938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3863486355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:51:31 [debug] Driver 0: pos -3521, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17507, writes 0 timeouts 0
2025-04-24 15:51:31 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36005/37148
2025-04-24 15:51:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 828
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:31 [info] currentZPosition:0.123
2025-04-24 15:51:33 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:33 [debug] Diagnostics for board 50:
2025-04-24 15:51:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:53:37 ago, cause: software
2025-04-24 15:51:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:33 [debug] Moves scheduled 44942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3862454094 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:33 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17336, writes 0 timeouts 0
2025-04-24 15:51:33 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36109/37110
2025-04-24 15:51:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9126, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:33 [info] currentZPosition:0.122
2025-04-24 15:51:34 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:34 [debug] Diagnostics for board 50:
2025-04-24 15:51:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:39 ago, cause: software
2025-04-24 15:51:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:34 [debug] Moves scheduled 44946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3861362407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:51:34 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18294, writes 0 timeouts 0
2025-04-24 15:51:34 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36045/37118
2025-04-24 15:51:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:34 [info] currentZPosition:0.120
2025-04-24 15:51:34 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:35 [debug] Stopped at height 0.117 mm
2025-04-24 15:51:36 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:36 [debug] Diagnostics for board 50:
2025-04-24 15:51:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:41 ago, cause: software
2025-04-24 15:51:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:36 [debug] Moves scheduled 44954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 66, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3859869621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:36 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25048, writes 0 timeouts 0
2025-04-24 15:51:36 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36126/37113
2025-04-24 15:51:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:36 [info] currentZPosition:0.122
2025-04-24 15:51:36 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:38 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:38 [debug] Diagnostics for board 50:
2025-04-24 15:51:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:43 ago, cause: software
2025-04-24 15:51:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:38 [debug] Moves scheduled 44960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3858594313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:51:38 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21413, writes 0 timeouts 0
2025-04-24 15:51:38 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36094/37156
2025-04-24 15:51:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:38 [info] currentZPosition:0.122
2025-04-24 15:51:39 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:39 [debug] Diagnostics for board 50:
2025-04-24 15:51:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:44 ago, cause: software
2025-04-24 15:51:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:39 [debug] Moves scheduled 44964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3857550833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:39 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17509, writes 0 timeouts 0
2025-04-24 15:51:39 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36099/37141
2025-04-24 15:51:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:39 [info] currentZPosition:0.121
2025-04-24 15:51:40 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:41 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:41 [debug] Diagnostics for board 50:
2025-04-24 15:51:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:46 ago, cause: software
2025-04-24 15:51:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:41 [debug] Moves scheduled 44970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3856242922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:51:41 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21944, writes 0 timeouts 0
2025-04-24 15:51:41 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36016/37156
2025-04-24 15:51:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:41 [info] currentZPosition:0.120
2025-04-24 15:51:42 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:42 [debug] Diagnostics for board 50:
2025-04-24 15:51:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:53:47 ago, cause: software
2025-04-24 15:51:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:42 [debug] Moves scheduled 44974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3855225528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:51:42 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17085, writes 0 timeouts 0
2025-04-24 15:51:42 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36065/37137
2025-04-24 15:51:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:42 [info] currentZPosition:0.121
2025-04-24 15:51:44 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:44 [debug] Diagnostics for board 50:
2025-04-24 15:51:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:49 ago, cause: software
2025-04-24 15:51:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:44 [debug] Moves scheduled 44978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3854162104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:51:44 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17831, writes 0 timeouts 0
2025-04-24 15:51:44 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36057/37165
2025-04-24 15:51:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:44 [info] currentZPosition:0.120
2025-04-24 15:51:45 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:45 [debug] Diagnostics for board 50:
2025-04-24 15:51:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:50 ago, cause: software
2025-04-24 15:51:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:45 [debug] Moves scheduled 44982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3853145658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:51:45 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17057, writes 0 timeouts 0
2025-04-24 15:51:45 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36099/37121
2025-04-24 15:51:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:45 [info] currentZPosition:0.121
2025-04-24 15:51:46 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:46 [debug] Diagnostics for board 50:
2025-04-24 15:51:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:51 ago, cause: software
2025-04-24 15:51:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:46 [debug] Moves scheduled 44986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3852096296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:51:46 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17598, writes 0 timeouts 0
2025-04-24 15:51:46 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36044/37127
2025-04-24 15:51:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:46 [info] currentZPosition:0.121
2025-04-24 15:51:48 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:48 [debug] Diagnostics for board 50:
2025-04-24 15:51:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:53 ago, cause: software
2025-04-24 15:51:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:48 [debug] Moves scheduled 44990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=10273, max=14705
Sync err accum 99, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3851077582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:51:48 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17084, writes 0 timeouts 0
2025-04-24 15:51:48 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36053/37105
2025-04-24 15:51:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9226, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:48 [info] currentZPosition:0.121
2025-04-24 15:51:49 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:49 [debug] Diagnostics for board 50:
2025-04-24 15:51:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:54 ago, cause: software
2025-04-24 15:51:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:49 [debug] Moves scheduled 44994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=8928, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3850015945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:51:49 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17820, writes 0 timeouts 0
2025-04-24 15:51:49 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36039/37107
2025-04-24 15:51:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:49 [info] currentZPosition:0.121
2025-04-24 15:51:50 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:50 [debug] Diagnostics for board 50:
2025-04-24 15:51:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:55 ago, cause: software
2025-04-24 15:51:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:50 [debug] Moves scheduled 44998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3848991525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:51:50 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17173, writes 0 timeouts 0
2025-04-24 15:51:50 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36062/37126
2025-04-24 15:51:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:51 [info] currentZPosition:0.121
2025-04-24 15:51:52 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:52 [debug] Diagnostics for board 50:
2025-04-24 15:51:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:53:57 ago, cause: software
2025-04-24 15:51:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:52 [debug] Moves scheduled 45002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3847950470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:51:52 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17533, writes 0 timeouts 0
2025-04-24 15:51:52 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36061/37118
2025-04-24 15:51:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:52 [info] currentZPosition:0.122
2025-04-24 15:51:54 [debug] Stopped at height 0.120 mm
2025-04-24 15:51:54 [debug] Diagnostics for board 50:
2025-04-24 15:51:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:53:59 ago, cause: software
2025-04-24 15:51:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:54 [debug] Moves scheduled 45006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -3/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3846045784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:51:54 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 31918, writes 0 timeouts 0
2025-04-24 15:51:54 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 65, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36095/37138
2025-04-24 15:51:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:55 [info] currentZPosition:0.120
2025-04-24 15:51:56 [debug] Stopped at height 0.122 mm
2025-04-24 15:51:56 [debug] Diagnostics for board 50:
2025-04-24 15:51:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:01 ago, cause: software
2025-04-24 15:51:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:56 [debug] Moves scheduled 45010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3845015232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:51:56 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17293, writes 0 timeouts 0
2025-04-24 15:51:56 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36022/37082
2025-04-24 15:51:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9196, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:56 [info] currentZPosition:0.122
2025-04-24 15:51:56 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:57 [debug] Stopped at height 0.121 mm
2025-04-24 15:51:57 [debug] Diagnostics for board 50:
2025-04-24 15:51:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:02 ago, cause: software
2025-04-24 15:51:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:57 [debug] Moves scheduled 45016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3843738251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:51:57 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21425, writes 0 timeouts 0
2025-04-24 15:51:57 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36099/37163
2025-04-24 15:51:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:58 [info] currentZPosition:0.121
2025-04-24 15:51:58 [debug] Stopped at height 0.119 mm
2025-04-24 15:51:59 [debug] Stopped at height 0.123 mm
2025-04-24 15:51:59 [debug] Diagnostics for board 50:
2025-04-24 15:51:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:51:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:04 ago, cause: software
2025-04-24 15:51:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:51:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:51:59 [debug] Moves scheduled 45022, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9146, max=15306
Sync err accum 83, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3842488084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:51:59 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20996, writes 0 timeouts 0
2025-04-24 15:51:59 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36025/37111
2025-04-24 15:51:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9138, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:51:59 [info] currentZPosition:0.123
2025-04-24 15:52:00 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:01 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:01 [debug] Diagnostics for board 50:
2025-04-24 15:52:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:06 ago, cause: software
2025-04-24 15:52:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:01 [debug] Moves scheduled 45028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3841180107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 15:52:01 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21931, writes 0 timeouts 0
2025-04-24 15:52:01 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36106/37121
2025-04-24 15:52:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:01 [info] currentZPosition:0.121
2025-04-24 15:52:01 [debug] Stopped at height 0.119 mm
2025-04-24 15:52:03 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:03 [debug] Diagnostics for board 50:
2025-04-24 15:52:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:08 ago, cause: software
2025-04-24 15:52:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:03 [debug] Moves scheduled 45034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3839902034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:52:03 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21447, writes 0 timeouts 0
2025-04-24 15:52:03 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36065/37169
2025-04-24 15:52:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9183, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:03 [info] currentZPosition:0.122
2025-04-24 15:52:03 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:04 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:04 [debug] Diagnostics for board 50:
2025-04-24 15:52:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:09 ago, cause: software
2025-04-24 15:52:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:04 [debug] Moves scheduled 45040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3838624461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:52:04 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21432, writes 0 timeouts 0
2025-04-24 15:52:04 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36147/37140
2025-04-24 15:52:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:04 [info] currentZPosition:0.121
2025-04-24 15:52:05 [debug] Stopped at height 0.119 mm
2025-04-24 15:52:05 [debug] Stopped at height 0.118 mm
2025-04-24 15:52:06 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:06 [debug] Diagnostics for board 50:
2025-04-24 15:52:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:54:11 ago, cause: software
2025-04-24 15:52:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:06 [debug] Moves scheduled 45048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3837084392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:52:06 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25851, writes 0 timeouts 0
2025-04-24 15:52:06 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35999/37161
2025-04-24 15:52:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:06 [info] currentZPosition:0.121
2025-04-24 15:52:07 [debug] Stopped at height 0.119 mm
2025-04-24 15:52:08 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:08 [debug] Diagnostics for board 50:
2025-04-24 15:52:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:13 ago, cause: software
2025-04-24 15:52:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:08 [debug] Moves scheduled 45054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3835855386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:52:08 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20648, writes 0 timeouts 0
2025-04-24 15:52:08 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36061/37146
2025-04-24 15:52:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9143, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:08 [info] currentZPosition:0.122
2025-04-24 15:52:08 [debug] Stopped at height 0.123 mm
2025-04-24 15:52:10 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:10 [debug] Diagnostics for board 50:
2025-04-24 15:52:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:54:15 ago, cause: software
2025-04-24 15:52:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:10 [debug] Moves scheduled 45060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3834548300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:52:10 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21912, writes 0 timeouts 0
2025-04-24 15:52:10 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36011/37118
2025-04-24 15:52:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:10 [info] currentZPosition:0.121
2025-04-24 15:52:11 [debug] Stopped at height 0.119 mm
2025-04-24 15:52:11 [debug] Diagnostics for board 50:
2025-04-24 15:52:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:16 ago, cause: software
2025-04-24 15:52:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:11 [debug] Moves scheduled 45064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3833493620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:52:11 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17688, writes 0 timeouts 0
2025-04-24 15:52:11 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36139/37124
2025-04-24 15:52:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:11 [info] currentZPosition:0.119
2025-04-24 15:52:12 [debug] Stopped at height 0.119 mm
2025-04-24 15:52:13 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:13 [debug] Diagnostics for board 50:
2025-04-24 15:52:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:18 ago, cause: software
2025-04-24 15:52:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:13 [debug] Moves scheduled 45070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3832256072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:52:13 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20810, writes 0 timeouts 0
2025-04-24 15:52:13 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36098/37170
2025-04-24 15:52:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:13 [info] currentZPosition:0.122
2025-04-24 15:52:13 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:14 [debug] Stopped at height 0.123 mm
2025-04-24 15:52:14 [debug] Diagnostics for board 50:
2025-04-24 15:52:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:19 ago, cause: software
2025-04-24 15:52:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:14 [debug] Moves scheduled 45076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3830994353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:52:14 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21151, writes 0 timeouts 0
2025-04-24 15:52:14 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36143/37120
2025-04-24 15:52:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:15 [info] currentZPosition:0.123
2025-04-24 15:52:15 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:16 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:16 [debug] Diagnostics for board 50:
2025-04-24 15:52:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:54:21 ago, cause: software
2025-04-24 15:52:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:16 [debug] Moves scheduled 45082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 77, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3829691885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:52:16 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21837, writes 0 timeouts 0
2025-04-24 15:52:16 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36063/37166
2025-04-24 15:52:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9216, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:16 [info] currentZPosition:0.122
2025-04-24 15:52:18 [debug] Stopped at height 0.123 mm
2025-04-24 15:52:18 [debug] Diagnostics for board 50:
2025-04-24 15:52:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:54:22 ago, cause: software
2025-04-24 15:52:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:18 [debug] Moves scheduled 45086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3828688835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:52:18 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16859, writes 0 timeouts 0
2025-04-24 15:52:18 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36064/37132
2025-04-24 15:52:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9155, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:18 [info] currentZPosition:0.123
2025-04-24 15:52:19 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:19 [debug] Diagnostics for board 50:
2025-04-24 15:52:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:54:24 ago, cause: software
2025-04-24 15:52:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:19 [debug] Moves scheduled 45090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3827586201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:52:19 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18463, writes 0 timeouts 0
2025-04-24 15:52:19 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36091/37095
2025-04-24 15:52:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:19 [info] currentZPosition:0.121
2025-04-24 15:52:19 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:21 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:21 [debug] Diagnostics for board 50:
2025-04-24 15:52:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:26 ago, cause: software
2025-04-24 15:52:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:21 [debug] Moves scheduled 45096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3826362227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:52:21 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20574, writes 0 timeouts 0
2025-04-24 15:52:21 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 425, adv 36186/37122
2025-04-24 15:52:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:21 [info] currentZPosition:0.122
2025-04-24 15:52:21 [debug] Stopped at height 0.120 mm
2025-04-24 15:52:22 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:22 [debug] Diagnostics for board 50:
2025-04-24 15:52:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:27 ago, cause: software
2025-04-24 15:52:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:22 [debug] Moves scheduled 45102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3825051749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:52:22 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21970, writes 0 timeouts 0
2025-04-24 15:52:22 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36053/37170
2025-04-24 15:52:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:23 [info] currentZPosition:0.121
2025-04-24 15:52:24 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:24 [debug] Diagnostics for board 50:
2025-04-24 15:52:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:29 ago, cause: software
2025-04-24 15:52:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:24 [debug] Moves scheduled 45106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3824023616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:52:24 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17238, writes 0 timeouts 0
2025-04-24 15:52:24 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36351/37082
2025-04-24 15:52:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:24 [info] currentZPosition:0.121
2025-04-24 15:52:25 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:25 [debug] Diagnostics for board 50:
2025-04-24 15:52:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:30 ago, cause: software
2025-04-24 15:52:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:25 [debug] Moves scheduled 45110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3822978423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:52:25 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17566, writes 0 timeouts 0
2025-04-24 15:52:25 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36047/37115
2025-04-24 15:52:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:25 [info] currentZPosition:0.121
2025-04-24 15:52:27 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:27 [debug] Diagnostics for board 50:
2025-04-24 15:52:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:31 ago, cause: software
2025-04-24 15:52:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:27 [debug] Moves scheduled 45114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 77, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3821956798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:52:27 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17122, writes 0 timeouts 0
2025-04-24 15:52:27 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36334/37161
2025-04-24 15:52:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:27 [info] currentZPosition:0.122
2025-04-24 15:52:28 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:28 [debug] Diagnostics for board 50:
2025-04-24 15:52:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:33 ago, cause: software
2025-04-24 15:52:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:28 [debug] Moves scheduled 45118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3820905524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:52:28 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17640, writes 0 timeouts 0
2025-04-24 15:52:28 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36024/37081
2025-04-24 15:52:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:28 [info] currentZPosition:0.122
2025-04-24 15:52:29 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:29 [debug] Diagnostics for board 50:
2025-04-24 15:52:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:34 ago, cause: software
2025-04-24 15:52:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:29 [debug] Moves scheduled 45122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3819875848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:52:29 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17266, writes 0 timeouts 0
2025-04-24 15:52:29 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36348/37151
2025-04-24 15:52:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9246, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:29 [info] currentZPosition:0.122
2025-04-24 15:52:31 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:31 [debug] Diagnostics for board 50:
2025-04-24 15:52:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:36 ago, cause: software
2025-04-24 15:52:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:31 [debug] Moves scheduled 45126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 78, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3818830285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:52:31 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17541, writes 0 timeouts 0
2025-04-24 15:52:31 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36005/37162
2025-04-24 15:52:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9236, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:31 [info] currentZPosition:0.122
2025-04-24 15:52:32 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:32 [debug] Diagnostics for board 50:
2025-04-24 15:52:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:54:37 ago, cause: software
2025-04-24 15:52:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:32 [debug] Moves scheduled 45130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3817803076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:52:32 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17222, writes 0 timeouts 0
2025-04-24 15:52:32 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36372/37145
2025-04-24 15:52:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:32 [info] currentZPosition:0.122
2025-04-24 15:52:33 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:33 [debug] Diagnostics for board 50:
2025-04-24 15:52:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:38 ago, cause: software
2025-04-24 15:52:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:33 [debug] Moves scheduled 45134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3816759002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:52:33 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17522, writes 0 timeouts 0
2025-04-24 15:52:33 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36021/37122
2025-04-24 15:52:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:34 [info] currentZPosition:0.122
2025-04-24 15:52:35 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:35 [debug] Diagnostics for board 50:
2025-04-24 15:52:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:40 ago, cause: software
2025-04-24 15:52:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:35 [debug] Moves scheduled 45138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3815721080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:52:35 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17433, writes 0 timeouts 0
2025-04-24 15:52:35 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36347/37099
2025-04-24 15:52:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:35 [info] currentZPosition:0.122
2025-04-24 15:52:36 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:36 [debug] Diagnostics for board 50:
2025-04-24 15:52:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:41 ago, cause: software
2025-04-24 15:52:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:36 [debug] Moves scheduled 45142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3814675376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:52:36 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17541, writes 0 timeouts 0
2025-04-24 15:52:36 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36056/37119
2025-04-24 15:52:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:36 [info] currentZPosition:0.122
2025-04-24 15:52:38 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:38 [debug] Diagnostics for board 50:
2025-04-24 15:52:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:43 ago, cause: software
2025-04-24 15:52:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:38 [debug] Moves scheduled 45146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3813644204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:52:38 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17287, writes 0 timeouts 0
2025-04-24 15:52:38 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36215/37150
2025-04-24 15:52:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9237, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:38 [info] currentZPosition:0.122
2025-04-24 15:52:39 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:39 [debug] Diagnostics for board 50:
2025-04-24 15:52:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:54:44 ago, cause: software
2025-04-24 15:52:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:39 [debug] Moves scheduled 45150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3812596087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:52:39 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17583, writes 0 timeouts 0
2025-04-24 15:52:39 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36047/37159
2025-04-24 15:52:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9227, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:39 [info] currentZPosition:0.122
2025-04-24 15:52:40 [debug] Stopped at height 0.123 mm
2025-04-24 15:52:40 [debug] Diagnostics for board 50:
2025-04-24 15:52:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:45 ago, cause: software
2025-04-24 15:52:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:40 [debug] Moves scheduled 45154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 85, peak jitter -1/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3811590834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:52:40 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16887, writes 0 timeouts 0
2025-04-24 15:52:40 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36373/37086
2025-04-24 15:52:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9135, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:40 [info] currentZPosition:0.123
2025-04-24 15:52:42 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:42 [debug] Diagnostics for board 50:
2025-04-24 15:52:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:54:47 ago, cause: software
2025-04-24 15:52:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:42 [debug] Moves scheduled 45158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3810516659 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:52:42 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18011, writes 0 timeouts 0
2025-04-24 15:52:42 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36041/37120
2025-04-24 15:52:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:42 [info] currentZPosition:0.122
2025-04-24 15:52:43 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:43 [debug] Diagnostics for board 50:
2025-04-24 15:52:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:48 ago, cause: software
2025-04-24 15:52:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:43 [debug] Moves scheduled 45162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 62, peak jitter -2/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3809472345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:52:43 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17525, writes 0 timeouts 0
2025-04-24 15:52:43 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36322/37106
2025-04-24 15:52:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:43 [info] currentZPosition:0.121
2025-04-24 15:52:45 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:45 [debug] Diagnostics for board 50:
2025-04-24 15:52:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:49 ago, cause: software
2025-04-24 15:52:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:45 [debug] Moves scheduled 45166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3808432142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:52:45 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17464, writes 0 timeouts 0
2025-04-24 15:52:45 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36059/37093
2025-04-24 15:52:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:45 [info] currentZPosition:0.122
2025-04-24 15:52:46 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:46 [debug] Diagnostics for board 50:
2025-04-24 15:52:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:51 ago, cause: software
2025-04-24 15:52:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:46 [debug] Moves scheduled 45170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3807389908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:52:46 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17490, writes 0 timeouts 0
2025-04-24 15:52:46 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36281/37120
2025-04-24 15:52:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:46 [info] currentZPosition:0.121
2025-04-24 15:52:47 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:47 [debug] Diagnostics for board 50:
2025-04-24 15:52:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:52 ago, cause: software
2025-04-24 15:52:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:47 [debug] Moves scheduled 45174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3806329570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:52:47 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17784, writes 0 timeouts 0
2025-04-24 15:52:47 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36016/37126
2025-04-24 15:52:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:47 [info] currentZPosition:0.121
2025-04-24 15:52:49 [debug] Stopped at height 0.120 mm
2025-04-24 15:52:49 [debug] Diagnostics for board 50:
2025-04-24 15:52:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:54 ago, cause: software
2025-04-24 15:52:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:49 [debug] Moves scheduled 45178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3805295249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:52:49 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17345, writes 0 timeouts 0
2025-04-24 15:52:49 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36334/37109
2025-04-24 15:52:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:49 [info] currentZPosition:0.120
2025-04-24 15:52:50 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:50 [debug] Diagnostics for board 50:
2025-04-24 15:52:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:54:55 ago, cause: software
2025-04-24 15:52:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:50 [debug] Moves scheduled 45182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3804245153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:52:50 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17625, writes 0 timeouts 0
2025-04-24 15:52:50 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36053/37084
2025-04-24 15:52:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:50 [info] currentZPosition:0.121
2025-04-24 15:52:51 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:51 [debug] Diagnostics for board 50:
2025-04-24 15:52:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:56 ago, cause: software
2025-04-24 15:52:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:51 [debug] Moves scheduled 45186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3803236657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:52:51 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16927, writes 0 timeouts 0
2025-04-24 15:52:51 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36330/37141
2025-04-24 15:52:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:52 [info] currentZPosition:0.122
2025-04-24 15:52:53 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:53 [debug] Diagnostics for board 50:
2025-04-24 15:52:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:54:58 ago, cause: software
2025-04-24 15:52:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:53 [debug] Moves scheduled 45190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3802184680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:52:53 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17662, writes 0 timeouts 0
2025-04-24 15:52:53 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36043/37106
2025-04-24 15:52:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:53 [info] currentZPosition:0.122
2025-04-24 15:52:54 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:54 [debug] Diagnostics for board 50:
2025-04-24 15:52:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:54:59 ago, cause: software
2025-04-24 15:52:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:54 [debug] Moves scheduled 45194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter -1/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3801153692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:52:54 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17284, writes 0 timeouts 0
2025-04-24 15:52:54 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36304/37135
2025-04-24 15:52:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:54 [info] currentZPosition:0.122
2025-04-24 15:52:56 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:56 [debug] Diagnostics for board 50:
2025-04-24 15:52:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:01 ago, cause: software
2025-04-24 15:52:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:56 [debug] Moves scheduled 45198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3800107024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:52:56 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17576, writes 0 timeouts 0
2025-04-24 15:52:56 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36048/37118
2025-04-24 15:52:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:56 [info] currentZPosition:0.122
2025-04-24 15:52:57 [debug] Stopped at height 0.122 mm
2025-04-24 15:52:57 [debug] Diagnostics for board 50:
2025-04-24 15:52:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:02 ago, cause: software
2025-04-24 15:52:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:57 [debug] Moves scheduled 45202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3799078988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:52:57 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17229, writes 0 timeouts 0
2025-04-24 15:52:57 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 331, adv 36356/37153
2025-04-24 15:52:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:57 [info] currentZPosition:0.122
2025-04-24 15:52:58 [debug] Stopped at height 0.121 mm
2025-04-24 15:52:58 [debug] Diagnostics for board 50:
2025-04-24 15:52:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:52:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:03 ago, cause: software
2025-04-24 15:52:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:52:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:52:58 [debug] Moves scheduled 45206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3797998507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:52:58 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18117, writes 0 timeouts 0
2025-04-24 15:52:58 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36037/37100
2025-04-24 15:52:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9354, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:52:59 [info] currentZPosition:0.121
2025-04-24 15:52:59 [debug] Stopped at height 0.121 mm
2025-04-24 15:53:00 [debug] Stopped at height 0.121 mm
2025-04-24 15:53:00 [debug] Diagnostics for board 50:
2025-04-24 15:53:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:05 ago, cause: software
2025-04-24 15:53:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:00 [debug] Moves scheduled 45212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3796742303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:53:00 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21094, writes 0 timeouts 0
2025-04-24 15:53:00 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36318/37106
2025-04-24 15:53:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:00 [info] currentZPosition:0.121
2025-04-24 15:53:01 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:01 [debug] Diagnostics for board 50:
2025-04-24 15:53:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:06 ago, cause: software
2025-04-24 15:53:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:01 [debug] Moves scheduled 45216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3795740944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:53:01 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16832, writes 0 timeouts 0
2025-04-24 15:53:01 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36002/37092
2025-04-24 15:53:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9102, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:02 [info] currentZPosition:0.124
2025-04-24 15:53:02 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:03 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:03 [debug] Diagnostics for board 50:
2025-04-24 15:53:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:08 ago, cause: software
2025-04-24 15:53:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:03 [debug] Moves scheduled 45222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3794434731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:53:03 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21899, writes 0 timeouts 0
2025-04-24 15:53:03 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36347/37140
2025-04-24 15:53:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9236, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:03 [info] currentZPosition:0.123
2025-04-24 15:53:05 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:05 [debug] Diagnostics for board 50:
2025-04-24 15:53:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:55:10 ago, cause: software
2025-04-24 15:53:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:05 [debug] Moves scheduled 45226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 85, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3793359493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:53:05 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18041, writes 0 timeouts 0
2025-04-24 15:53:05 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36100/37118
2025-04-24 15:53:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:05 [info] currentZPosition:0.122
2025-04-24 15:53:06 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:06 [debug] Diagnostics for board 50:
2025-04-24 15:53:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:55:11 ago, cause: software
2025-04-24 15:53:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:06 [debug] Moves scheduled 45230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 228, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3792379246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:53:06 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16453, writes 0 timeouts 0
2025-04-24 15:53:06 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36323/37112
2025-04-24 15:53:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9174, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:06 [info] currentZPosition:0.124
2025-04-24 15:53:06 [debug] Stopped at height 0.121 mm
2025-04-24 15:53:08 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:08 [debug] Diagnostics for board 50:
2025-04-24 15:53:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:55:13 ago, cause: software
2025-04-24 15:53:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:08 [debug] Moves scheduled 45236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3791061595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:53:08 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22086, writes 0 timeouts 0
2025-04-24 15:53:08 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36057/37142
2025-04-24 15:53:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:08 [info] currentZPosition:0.122
2025-04-24 15:53:09 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:09 [debug] Diagnostics for board 50:
2025-04-24 15:53:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:14 ago, cause: software
2025-04-24 15:53:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:09 [debug] Moves scheduled 45240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3790023958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:53:09 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17420, writes 0 timeouts 0
2025-04-24 15:53:09 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36377/37090
2025-04-24 15:53:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:09 [info] currentZPosition:0.122
2025-04-24 15:53:11 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:11 [debug] Diagnostics for board 50:
2025-04-24 15:53:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:15 ago, cause: software
2025-04-24 15:53:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:11 [debug] Moves scheduled 45244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 72, peak jitter -1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3788968563 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:53:11 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17756, writes 0 timeouts 0
2025-04-24 15:53:11 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36041/37146
2025-04-24 15:53:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:11 [info] currentZPosition:0.122
2025-04-24 15:53:12 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:12 [debug] Diagnostics for board 50:
2025-04-24 15:53:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:17 ago, cause: software
2025-04-24 15:53:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:12 [debug] Moves scheduled 45248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9740, max=15000
Sync err accum 88, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3787965388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:53:12 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16778, writes 0 timeouts 0
2025-04-24 15:53:12 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36385/37104
2025-04-24 15:53:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:12 [info] currentZPosition:0.123
2025-04-24 15:53:13 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:13 [debug] Diagnostics for board 50:
2025-04-24 15:53:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:18 ago, cause: software
2025-04-24 15:53:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:13 [debug] Moves scheduled 45252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3786913571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:53:13 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17653, writes 0 timeouts 0
2025-04-24 15:53:13 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36002/37151
2025-04-24 15:53:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9188, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:13 [info] currentZPosition:0.123
2025-04-24 15:53:15 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:15 [debug] Diagnostics for board 50:
2025-04-24 15:53:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:20 ago, cause: software
2025-04-24 15:53:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:15 [debug] Moves scheduled 45256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3785895343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:53:15 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17110, writes 0 timeouts 0
2025-04-24 15:53:15 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36187/37115
2025-04-24 15:53:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:15 [info] currentZPosition:0.123
2025-04-24 15:53:16 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:16 [debug] Diagnostics for board 50:
2025-04-24 15:53:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:21 ago, cause: software
2025-04-24 15:53:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:16 [debug] Moves scheduled 45260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 116, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3784807581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:53:16 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18233, writes 0 timeouts 0
2025-04-24 15:53:16 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36029/37123
2025-04-24 15:53:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:16 [info] currentZPosition:0.122
2025-04-24 15:53:16 [debug] Stopped at height 0.121 mm
2025-04-24 15:53:18 [debug] Stopped at height 0.125 mm
2025-04-24 15:53:18 [debug] Diagnostics for board 50:
2025-04-24 15:53:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:55:23 ago, cause: software
2025-04-24 15:53:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:18 [debug] Moves scheduled 45266, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 120, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3783602112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:53:18 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20252, writes 0 timeouts 0
2025-04-24 15:53:18 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36061/37078
2025-04-24 15:53:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:18 [info] currentZPosition:0.125
2025-04-24 15:53:18 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:19 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:19 [debug] Diagnostics for board 50:
2025-04-24 15:53:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:24 ago, cause: software
2025-04-24 15:53:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:19 [debug] Moves scheduled 45272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 118, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3782258343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:53:19 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22566, writes 0 timeouts 0
2025-04-24 15:53:19 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36024/37138
2025-04-24 15:53:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:20 [info] currentZPosition:0.122
2025-04-24 15:53:21 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:21 [debug] Diagnostics for board 50:
2025-04-24 15:53:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:26 ago, cause: software
2025-04-24 15:53:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:21 [debug] Moves scheduled 45276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 114, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3781261771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:53:21 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16690, writes 0 timeouts 0
2025-04-24 15:53:21 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36090/37125
2025-04-24 15:53:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9205, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:21 [info] currentZPosition:0.124
2025-04-24 15:53:21 [debug] Stopped at height 0.121 mm
2025-04-24 15:53:23 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:23 [debug] Diagnostics for board 50:
2025-04-24 15:53:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:27 ago, cause: software
2025-04-24 15:53:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:23 [debug] Moves scheduled 45282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3779935951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:53:23 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22251, writes 0 timeouts 0
2025-04-24 15:53:23 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36083/37152
2025-04-24 15:53:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:23 [info] currentZPosition:0.122
2025-04-24 15:53:24 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:24 [debug] Diagnostics for board 50:
2025-04-24 15:53:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:29 ago, cause: software
2025-04-24 15:53:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:24 [debug] Moves scheduled 45286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3778935124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:53:24 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16802, writes 0 timeouts 0
2025-04-24 15:53:24 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36145/37109
2025-04-24 15:53:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:24 [info] currentZPosition:0.123
2025-04-24 15:53:25 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:25 [debug] Diagnostics for board 50:
2025-04-24 15:53:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:30 ago, cause: software
2025-04-24 15:53:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:25 [debug] Moves scheduled 45290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3777862814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:53:25 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17981, writes 0 timeouts 0
2025-04-24 15:53:25 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36047/37107
2025-04-24 15:53:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:25 [info] currentZPosition:0.122
2025-04-24 15:53:27 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:27 [debug] Diagnostics for board 50:
2025-04-24 15:53:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:32 ago, cause: software
2025-04-24 15:53:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:27 [debug] Moves scheduled 45294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 61, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3776844786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:53:27 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17101, writes 0 timeouts 0
2025-04-24 15:53:27 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36073/37163
2025-04-24 15:53:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:27 [info] currentZPosition:0.122
2025-04-24 15:53:28 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:28 [debug] Diagnostics for board 50:
2025-04-24 15:53:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:33 ago, cause: software
2025-04-24 15:53:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:28 [debug] Moves scheduled 45298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 64, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3775822051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:53:28 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17155, writes 0 timeouts 0
2025-04-24 15:53:28 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36004/37135
2025-04-24 15:53:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:28 [info] currentZPosition:0.124
2025-04-24 15:53:29 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:30 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:30 [debug] Diagnostics for board 50:
2025-04-24 15:53:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:35 ago, cause: software
2025-04-24 15:53:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:30 [debug] Moves scheduled 45304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3774546569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:53:30 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21373, writes 0 timeouts 0
2025-04-24 15:53:30 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36110/37132
2025-04-24 15:53:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:30 [info] currentZPosition:0.123
2025-04-24 15:53:31 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:31 [debug] Diagnostics for board 50:
2025-04-24 15:53:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:55:36 ago, cause: software
2025-04-24 15:53:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:31 [debug] Moves scheduled 45308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 97, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3773514301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:53:31 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17345, writes 0 timeouts 0
2025-04-24 15:53:31 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36042/37120
2025-04-24 15:53:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:31 [info] currentZPosition:0.124
2025-04-24 15:53:32 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:33 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:33 [debug] Diagnostics for board 50:
2025-04-24 15:53:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:55:38 ago, cause: software
2025-04-24 15:53:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:33 [debug] Moves scheduled 45314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3772236739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:53:33 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21432, writes 0 timeouts 0
2025-04-24 15:53:33 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36092/37081
2025-04-24 15:53:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:33 [info] currentZPosition:0.123
2025-04-24 15:53:34 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:34 [debug] Diagnostics for board 50:
2025-04-24 15:53:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:39 ago, cause: software
2025-04-24 15:53:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:34 [debug] Moves scheduled 45318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 112, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3771155759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:53:34 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18128, writes 0 timeouts 0
2025-04-24 15:53:34 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36010/37127
2025-04-24 15:53:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:34 [info] currentZPosition:0.122
2025-04-24 15:53:35 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:36 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:36 [debug] Diagnostics for board 50:
2025-04-24 15:53:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:41 ago, cause: software
2025-04-24 15:53:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:36 [debug] Moves scheduled 45324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 115, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3769922146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:53:36 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20696, writes 0 timeouts 0
2025-04-24 15:53:36 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36048/37166
2025-04-24 15:53:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:36 [info] currentZPosition:0.123
2025-04-24 15:53:36 [debug] Stopped at height 0.121 mm
2025-04-24 15:53:38 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:38 [debug] Diagnostics for board 50:
2025-04-24 15:53:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:43 ago, cause: software
2025-04-24 15:53:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:38 [debug] Moves scheduled 45330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 113, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3768617520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:53:38 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21902, writes 0 timeouts 0
2025-04-24 15:53:38 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36035/37120
2025-04-24 15:53:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:38 [info] currentZPosition:0.122
2025-04-24 15:53:39 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:39 [debug] Diagnostics for board 50:
2025-04-24 15:53:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:44 ago, cause: software
2025-04-24 15:53:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:39 [debug] Moves scheduled 45334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3767605472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:53:39 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16983, writes 0 timeouts 0
2025-04-24 15:53:39 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36098/37113
2025-04-24 15:53:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:39 [info] currentZPosition:0.122
2025-04-24 15:53:40 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:40 [debug] Diagnostics for board 50:
2025-04-24 15:53:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:45 ago, cause: software
2025-04-24 15:53:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:40 [debug] Moves scheduled 45338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 100, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3766567472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:53:40 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17423, writes 0 timeouts 0
2025-04-24 15:53:40 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36047/37156
2025-04-24 15:53:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9218, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:40 [info] currentZPosition:0.124
2025-04-24 15:53:41 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:42 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:42 [debug] Diagnostics for board 50:
2025-04-24 15:53:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:47 ago, cause: software
2025-04-24 15:53:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:42 [debug] Moves scheduled 45344, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3765295977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:53:42 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21336, writes 0 timeouts 0
2025-04-24 15:53:42 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36062/37168
2025-04-24 15:53:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:42 [info] currentZPosition:0.123
2025-04-24 15:53:44 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:44 [debug] Diagnostics for board 50:
2025-04-24 15:53:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:48 ago, cause: software
2025-04-24 15:53:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:44 [debug] Moves scheduled 45348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 69, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3764225784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:53:44 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17974, writes 0 timeouts 0
2025-04-24 15:53:44 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36021/37122
2025-04-24 15:53:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:44 [info] currentZPosition:0.122
2025-04-24 15:53:45 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:45 [debug] Diagnostics for board 50:
2025-04-24 15:53:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:50 ago, cause: software
2025-04-24 15:53:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:45 [debug] Moves scheduled 45352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3763223075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:53:45 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16787, writes 0 timeouts 0
2025-04-24 15:53:45 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36059/37117
2025-04-24 15:53:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:45 [info] currentZPosition:0.123
2025-04-24 15:53:46 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:46 [debug] Diagnostics for board 50:
2025-04-24 15:53:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:55:51 ago, cause: software
2025-04-24 15:53:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:46 [debug] Moves scheduled 45356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3762175429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:53:46 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17594, writes 0 timeouts 0
2025-04-24 15:53:46 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36037/37131
2025-04-24 15:53:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:46 [info] currentZPosition:0.124
2025-04-24 15:53:48 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:48 [debug] Diagnostics for board 50:
2025-04-24 15:53:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:53 ago, cause: software
2025-04-24 15:53:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:48 [debug] Moves scheduled 45360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3761151021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:53:48 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17186, writes 0 timeouts 0
2025-04-24 15:53:48 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36077/37123
2025-04-24 15:53:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9224, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:48 [info] currentZPosition:0.123
2025-04-24 15:53:49 [debug] Stopped at height 0.125 mm
2025-04-24 15:53:49 [debug] Diagnostics for board 50:
2025-04-24 15:53:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:54 ago, cause: software
2025-04-24 15:53:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:49 [debug] Moves scheduled 45364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3760122659 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:53:49 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17259, writes 0 timeouts 0
2025-04-24 15:53:49 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 35994/37101
2025-04-24 15:53:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:49 [info] currentZPosition:0.125
2025-04-24 15:53:49 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:51 [debug] Stopped at height 0.123 mm
2025-04-24 15:53:51 [debug] Diagnostics for board 50:
2025-04-24 15:53:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:56 ago, cause: software
2025-04-24 15:53:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:51 [debug] Moves scheduled 45370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3758824033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:53:51 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21777, writes 0 timeouts 0
2025-04-24 15:53:51 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36131/37111
2025-04-24 15:53:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:51 [info] currentZPosition:0.123
2025-04-24 15:53:52 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:52 [debug] Diagnostics for board 50:
2025-04-24 15:53:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:57 ago, cause: software
2025-04-24 15:53:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:52 [debug] Moves scheduled 45374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3757788874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:53:52 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17368, writes 0 timeouts 0
2025-04-24 15:53:52 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36051/37117
2025-04-24 15:53:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:52 [info] currentZPosition:0.124
2025-04-24 15:53:53 [debug] Stopped at height 0.125 mm
2025-04-24 15:53:53 [debug] Diagnostics for board 50:
2025-04-24 15:53:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:55:58 ago, cause: software
2025-04-24 15:53:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:53 [debug] Moves scheduled 45378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3756775186 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:53:53 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17010, writes 0 timeouts 0
2025-04-24 15:53:53 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36090/37145
2025-04-24 15:53:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9124, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:54 [info] currentZPosition:0.125
2025-04-24 15:53:55 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:55 [debug] Diagnostics for board 50:
2025-04-24 15:53:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:00 ago, cause: software
2025-04-24 15:53:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:55 [debug] Moves scheduled 45382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3755708362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:53:55 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17905, writes 0 timeouts 0
2025-04-24 15:53:55 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36041/37124
2025-04-24 15:53:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9197, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:55 [info] currentZPosition:0.124
2025-04-24 15:53:56 [debug] Stopped at height 0.124 mm
2025-04-24 15:53:56 [debug] Diagnostics for board 50:
2025-04-24 15:53:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:01 ago, cause: software
2025-04-24 15:53:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:56 [debug] Moves scheduled 45386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3754682671 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:53:56 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17202, writes 0 timeouts 0
2025-04-24 15:53:56 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36051/37115
2025-04-24 15:53:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9194, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:56 [info] currentZPosition:0.124
2025-04-24 15:53:58 [debug] Stopped at height 0.125 mm
2025-04-24 15:53:58 [debug] Diagnostics for board 50:
2025-04-24 15:53:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:53:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:56:03 ago, cause: software
2025-04-24 15:53:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:53:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:53:58 [debug] Moves scheduled 45390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3753651541 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:53:58 [debug] Driver 0: pos -3522, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17318, writes 0 timeouts 0
2025-04-24 15:53:58 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36052/37156
2025-04-24 15:53:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 830
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:53:58 [info] currentZPosition:0.125
2025-04-24 15:53:58 [debug] Stopped at height 0.122 mm
2025-04-24 15:53:58 [debug] Stopped at height 0.122 mm
2025-04-24 15:54:00 [debug] Stopped at height 0.122 mm
2025-04-24 15:54:00 [debug] Diagnostics for board 50:
2025-04-24 15:54:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:05 ago, cause: software
2025-04-24 15:54:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:00 [debug] Moves scheduled 45398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3752075543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:54:00 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26436, writes 0 timeouts 0
2025-04-24 15:54:00 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36063/37159
2025-04-24 15:54:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:00 [info] currentZPosition:0.122
2025-04-24 15:54:01 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:01 [debug] Diagnostics for board 50:
2025-04-24 15:54:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:06 ago, cause: software
2025-04-24 15:54:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:01 [debug] Moves scheduled 45402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3751067904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:01 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16918, writes 0 timeouts 0
2025-04-24 15:54:01 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36020/37157
2025-04-24 15:54:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:01 [info] currentZPosition:0.125
2025-04-24 15:54:01 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:03 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:03 [debug] Diagnostics for board 50:
2025-04-24 15:54:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:08 ago, cause: software
2025-04-24 15:54:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:03 [debug] Moves scheduled 45408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 95, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3749789845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:54:03 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21432, writes 0 timeouts 0
2025-04-24 15:54:03 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36123/37139
2025-04-24 15:54:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9192, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:03 [info] currentZPosition:0.124
2025-04-24 15:54:04 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:04 [debug] Diagnostics for board 50:
2025-04-24 15:54:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:09 ago, cause: software
2025-04-24 15:54:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:04 [debug] Moves scheduled 45412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3748734736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:54:04 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17715, writes 0 timeouts 0
2025-04-24 15:54:04 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36050/37161
2025-04-24 15:54:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9198, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:04 [info] currentZPosition:0.124
2025-04-24 15:54:06 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:06 [debug] Diagnostics for board 50:
2025-04-24 15:54:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:10 ago, cause: software
2025-04-24 15:54:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:06 [debug] Moves scheduled 45416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3747715942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:54:06 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17088, writes 0 timeouts 0
2025-04-24 15:54:06 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36111/37151
2025-04-24 15:54:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9185, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:06 [info] currentZPosition:0.124
2025-04-24 15:54:07 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:07 [debug] Diagnostics for board 50:
2025-04-24 15:54:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:12 ago, cause: software
2025-04-24 15:54:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:07 [debug] Moves scheduled 45420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3746642959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:54:07 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18000, writes 0 timeouts 0
2025-04-24 15:54:07 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36057/37102
2025-04-24 15:54:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:07 [info] currentZPosition:0.123
2025-04-24 15:54:08 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:08 [debug] Diagnostics for board 50:
2025-04-24 15:54:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:13 ago, cause: software
2025-04-24 15:54:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:08 [debug] Moves scheduled 45424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter -1/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3745634192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:54:08 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16938, writes 0 timeouts 0
2025-04-24 15:54:08 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36077/37151
2025-04-24 15:54:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9240, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:08 [info] currentZPosition:0.124
2025-04-24 15:54:10 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:10 [debug] Diagnostics for board 50:
2025-04-24 15:54:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:15 ago, cause: software
2025-04-24 15:54:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:10 [debug] Moves scheduled 45428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3744600120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:54:10 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17344, writes 0 timeouts 0
2025-04-24 15:54:10 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36002/37124
2025-04-24 15:54:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9147, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:10 [info] currentZPosition:0.125
2025-04-24 15:54:10 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:11 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:11 [debug] Diagnostics for board 50:
2025-04-24 15:54:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:16 ago, cause: software
2025-04-24 15:54:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:11 [debug] Moves scheduled 45434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3743346695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:54:11 [debug] Driver 0: pos -3525, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21031, writes 0 timeouts 0
2025-04-24 15:54:11 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36182/37128
2025-04-24 15:54:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9165, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:11 [info] currentZPosition:0.125
2025-04-24 15:54:12 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:13 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:13 [debug] Diagnostics for board 50:
2025-04-24 15:54:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:18 ago, cause: software
2025-04-24 15:54:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:13 [debug] Moves scheduled 45440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3742013420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:54:13 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22358, writes 0 timeouts 0
2025-04-24 15:54:13 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36050/37116
2025-04-24 15:54:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:13 [info] currentZPosition:0.123
2025-04-24 15:54:14 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:14 [debug] Diagnostics for board 50:
2025-04-24 15:54:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:19 ago, cause: software
2025-04-24 15:54:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:14 [debug] Moves scheduled 45444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3740991090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:14 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17192, writes 0 timeouts 0
2025-04-24 15:54:14 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36291/37105
2025-04-24 15:54:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:15 [info] currentZPosition:0.123
2025-04-24 15:54:16 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:16 [debug] Diagnostics for board 50:
2025-04-24 15:54:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:21 ago, cause: software
2025-04-24 15:54:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:16 [debug] Moves scheduled 45448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3739949479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:16 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17459, writes 0 timeouts 0
2025-04-24 15:54:16 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36075/37112
2025-04-24 15:54:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9236, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:16 [info] currentZPosition:0.124
2025-04-24 15:54:17 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:17 [debug] Diagnostics for board 50:
2025-04-24 15:54:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:22 ago, cause: software
2025-04-24 15:54:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:17 [debug] Moves scheduled 45452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3738916497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:54:17 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17332, writes 0 timeouts 0
2025-04-24 15:54:17 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36299/37127
2025-04-24 15:54:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:17 [info] currentZPosition:0.124
2025-04-24 15:54:19 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:19 [debug] Diagnostics for board 50:
2025-04-24 15:54:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:24 ago, cause: software
2025-04-24 15:54:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:19 [debug] Moves scheduled 45456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3737883785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:54:19 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17350, writes 0 timeouts 0
2025-04-24 15:54:19 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36032/37124
2025-04-24 15:54:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9149, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:19 [info] currentZPosition:0.125
2025-04-24 15:54:19 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:20 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:20 [debug] Diagnostics for board 50:
2025-04-24 15:54:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:56:25 ago, cause: software
2025-04-24 15:54:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:20 [debug] Moves scheduled 45462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3736604474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:54:20 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21436, writes 0 timeouts 0
2025-04-24 15:54:20 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36359/37116
2025-04-24 15:54:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:20 [info] currentZPosition:0.124
2025-04-24 15:54:22 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:22 [debug] Diagnostics for board 50:
2025-04-24 15:54:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:27 ago, cause: software
2025-04-24 15:54:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:22 [debug] Moves scheduled 45466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3735533081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:54:22 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17977, writes 0 timeouts 0
2025-04-24 15:54:22 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36037/37122
2025-04-24 15:54:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:22 [info] currentZPosition:0.123
2025-04-24 15:54:23 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:23 [debug] Diagnostics for board 50:
2025-04-24 15:54:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:28 ago, cause: software
2025-04-24 15:54:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:23 [debug] Moves scheduled 45470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/4, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3734521790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:23 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16992, writes 0 timeouts 0
2025-04-24 15:54:23 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36369/37118
2025-04-24 15:54:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:23 [info] currentZPosition:0.124
2025-04-24 15:54:25 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:25 [debug] Diagnostics for board 50:
2025-04-24 15:54:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:29 ago, cause: software
2025-04-24 15:54:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:25 [debug] Moves scheduled 45474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3733449534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:54:25 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17961, writes 0 timeouts 0
2025-04-24 15:54:25 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36010/37104
2025-04-24 15:54:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:25 [info] currentZPosition:0.123
2025-04-24 15:54:26 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:26 [debug] Diagnostics for board 50:
2025-04-24 15:54:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:31 ago, cause: software
2025-04-24 15:54:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:26 [debug] Moves scheduled 45478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3732431931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:26 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17084, writes 0 timeouts 0
2025-04-24 15:54:26 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36317/37136
2025-04-24 15:54:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:26 [info] currentZPosition:0.124
2025-04-24 15:54:27 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:27 [debug] Diagnostics for board 50:
2025-04-24 15:54:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:32 ago, cause: software
2025-04-24 15:54:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:27 [debug] Moves scheduled 45482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3731368222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:27 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17866, writes 0 timeouts 0
2025-04-24 15:54:27 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36062/37135
2025-04-24 15:54:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:27 [info] currentZPosition:0.123
2025-04-24 15:54:29 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:29 [debug] Diagnostics for board 50:
2025-04-24 15:54:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:34 ago, cause: software
2025-04-24 15:54:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:29 [debug] Moves scheduled 45486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3730331081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:29 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17379, writes 0 timeouts 0
2025-04-24 15:54:29 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36318/37152
2025-04-24 15:54:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:29 [info] currentZPosition:0.123
2025-04-24 15:54:30 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:30 [debug] Diagnostics for board 50:
2025-04-24 15:54:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:56:35 ago, cause: software
2025-04-24 15:54:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:30 [debug] Moves scheduled 45490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3729284263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:54:30 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17567, writes 0 timeouts 0
2025-04-24 15:54:30 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36073/37125
2025-04-24 15:54:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:30 [info] currentZPosition:0.124
2025-04-24 15:54:31 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:31 [debug] Diagnostics for board 50:
2025-04-24 15:54:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:36 ago, cause: software
2025-04-24 15:54:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:31 [debug] Moves scheduled 45494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3728270429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:54:31 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17031, writes 0 timeouts 0
2025-04-24 15:54:31 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36335/37131
2025-04-24 15:54:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:32 [info] currentZPosition:0.124
2025-04-24 15:54:33 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:33 [debug] Diagnostics for board 50:
2025-04-24 15:54:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:38 ago, cause: software
2025-04-24 15:54:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:33 [debug] Moves scheduled 45498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3727232869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 15:54:33 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17362, writes 0 timeouts 0
2025-04-24 15:54:33 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36056/37110
2025-04-24 15:54:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:33 [info] currentZPosition:0.125
2025-04-24 15:54:34 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:34 [debug] Diagnostics for board 50:
2025-04-24 15:54:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:56:39 ago, cause: software
2025-04-24 15:54:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:34 [debug] Moves scheduled 45502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 63, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3726198876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:54:34 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17373, writes 0 timeouts 0
2025-04-24 15:54:34 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36350/37119
2025-04-24 15:54:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9194, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:34 [info] currentZPosition:0.124
2025-04-24 15:54:36 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:36 [debug] Diagnostics for board 50:
2025-04-24 15:54:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:41 ago, cause: software
2025-04-24 15:54:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:36 [debug] Moves scheduled 45506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 69, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3725116608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:54:36 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18186, writes 0 timeouts 0
2025-04-24 15:54:36 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36103/37123
2025-04-24 15:54:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:36 [info] currentZPosition:0.123
2025-04-24 15:54:36 [debug] Stopped at height 0.122 mm
2025-04-24 15:54:37 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:37 [debug] Diagnostics for board 50:
2025-04-24 15:54:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:56:42 ago, cause: software
2025-04-24 15:54:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:37 [debug] Moves scheduled 45512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 87, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3723851173 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:54:37 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21197, writes 0 timeouts 0
2025-04-24 15:54:37 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36352/37106
2025-04-24 15:54:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:37 [info] currentZPosition:0.123
2025-04-24 15:54:39 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:39 [debug] Diagnostics for board 50:
2025-04-24 15:54:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:44 ago, cause: software
2025-04-24 15:54:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:39 [debug] Moves scheduled 45516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 1/3, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3722810250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:54:39 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17461, writes 0 timeouts 0
2025-04-24 15:54:39 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36015/37158
2025-04-24 15:54:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:39 [info] currentZPosition:0.124
2025-04-24 15:54:40 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:40 [debug] Diagnostics for board 50:
2025-04-24 15:54:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:45 ago, cause: software
2025-04-24 15:54:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:40 [debug] Moves scheduled 45520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3721770374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:54:40 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17442, writes 0 timeouts 0
2025-04-24 15:54:40 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36347/37163
2025-04-24 15:54:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:40 [info] currentZPosition:0.123
2025-04-24 15:54:41 [debug] Stopped at height 0.126 mm
2025-04-24 15:54:41 [debug] Diagnostics for board 50:
2025-04-24 15:54:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:56:46 ago, cause: software
2025-04-24 15:54:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:41 [debug] Moves scheduled 45524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3720749336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:54:41 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17134, writes 0 timeouts 0
2025-04-24 15:54:41 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35979/37103
2025-04-24 15:54:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9131, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:42 [info] currentZPosition:0.126
2025-04-24 15:54:42 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:43 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:43 [debug] Diagnostics for board 50:
2025-04-24 15:54:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:56:48 ago, cause: software
2025-04-24 15:54:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:43 [debug] Moves scheduled 45530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 114, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3719473749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:54:43 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21398, writes 0 timeouts 0
2025-04-24 15:54:43 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36326/37160
2025-04-24 15:54:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:43 [info] currentZPosition:0.125
2025-04-24 15:54:45 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:45 [debug] Diagnostics for board 50:
2025-04-24 15:54:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:50 ago, cause: software
2025-04-24 15:54:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:45 [debug] Moves scheduled 45534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 113, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3718403754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:54:45 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17953, writes 0 timeouts 0
2025-04-24 15:54:45 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35873/37109
2025-04-24 15:54:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:45 [info] currentZPosition:0.124
2025-04-24 15:54:46 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:46 [debug] Diagnostics for board 50:
2025-04-24 15:54:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:56:51 ago, cause: software
2025-04-24 15:54:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:46 [debug] Moves scheduled 45538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 107, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3717381616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:54:46 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17143, writes 0 timeouts 0
2025-04-24 15:54:46 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36317/37145
2025-04-24 15:54:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:46 [info] currentZPosition:0.124
2025-04-24 15:54:47 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:47 [debug] Diagnostics for board 50:
2025-04-24 15:54:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:56:52 ago, cause: software
2025-04-24 15:54:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:47 [debug] Moves scheduled 45542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3716311234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:54:47 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17970, writes 0 timeouts 0
2025-04-24 15:54:47 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36014/37146
2025-04-24 15:54:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:47 [info] currentZPosition:0.123
2025-04-24 15:54:49 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:49 [debug] Diagnostics for board 50:
2025-04-24 15:54:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:56:54 ago, cause: software
2025-04-24 15:54:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:49 [debug] Moves scheduled 45546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3715319098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:54:49 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16637, writes 0 timeouts 0
2025-04-24 15:54:49 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36301/37094
2025-04-24 15:54:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9209, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:49 [info] currentZPosition:0.125
2025-04-24 15:54:49 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:50 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:50 [debug] Diagnostics for board 50:
2025-04-24 15:54:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:55 ago, cause: software
2025-04-24 15:54:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:50 [debug] Moves scheduled 45552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3713994419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:54:50 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22215, writes 0 timeouts 0
2025-04-24 15:54:50 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36027/37140
2025-04-24 15:54:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:51 [info] currentZPosition:0.123
2025-04-24 15:54:52 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:52 [debug] Diagnostics for board 50:
2025-04-24 15:54:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:57 ago, cause: software
2025-04-24 15:54:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:52 [debug] Moves scheduled 45556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 57, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3713005026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:54:52 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16606, writes 0 timeouts 0
2025-04-24 15:54:52 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36334/37119
2025-04-24 15:54:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:52 [info] currentZPosition:0.125
2025-04-24 15:54:52 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:54 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:54 [debug] Diagnostics for board 50:
2025-04-24 15:54:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:56:58 ago, cause: software
2025-04-24 15:54:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:54 [debug] Moves scheduled 45562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter 1/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3711710108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:54:54 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21737, writes 0 timeouts 0
2025-04-24 15:54:54 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36018/37097
2025-04-24 15:54:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:54 [info] currentZPosition:0.124
2025-04-24 15:54:55 [debug] Stopped at height 0.123 mm
2025-04-24 15:54:55 [debug] Diagnostics for board 50:
2025-04-24 15:54:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:00 ago, cause: software
2025-04-24 15:54:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:55 [debug] Moves scheduled 45566, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3710665115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:54:55 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17532, writes 0 timeouts 0
2025-04-24 15:54:55 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36391/37148
2025-04-24 15:54:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:55 [info] currentZPosition:0.123
2025-04-24 15:54:56 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:56 [debug] Diagnostics for board 50:
2025-04-24 15:54:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:01 ago, cause: software
2025-04-24 15:54:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:56 [debug] Moves scheduled 45570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3709621020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:54:56 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17516, writes 0 timeouts 0
2025-04-24 15:54:56 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36057/37149
2025-04-24 15:54:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:56 [info] currentZPosition:0.124
2025-04-24 15:54:58 [debug] Stopped at height 0.124 mm
2025-04-24 15:54:58 [debug] Diagnostics for board 50:
2025-04-24 15:54:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:03 ago, cause: software
2025-04-24 15:54:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:58 [debug] Moves scheduled 45574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3708598166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:54:58 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17206, writes 0 timeouts 0
2025-04-24 15:54:58 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36351/37124
2025-04-24 15:54:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:58 [info] currentZPosition:0.124
2025-04-24 15:54:59 [debug] Stopped at height 0.125 mm
2025-04-24 15:54:59 [debug] Diagnostics for board 50:
2025-04-24 15:54:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:54:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:57:04 ago, cause: software
2025-04-24 15:54:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:54:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:54:59 [debug] Moves scheduled 45578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 115, peak jitter 1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3707555360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:54:59 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17463, writes 0 timeouts 0
2025-04-24 15:54:59 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36035/37101
2025-04-24 15:54:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:54:59 [info] currentZPosition:0.125
2025-04-24 15:55:00 [debug] Stopped at height 0.126 mm
2025-04-24 15:55:00 [debug] Diagnostics for board 50:
2025-04-24 15:55:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:57:05 ago, cause: software
2025-04-24 15:55:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:00 [debug] Moves scheduled 45582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 120, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3706547995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:55:00 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16904, writes 0 timeouts 0
2025-04-24 15:55:00 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36329/37088
2025-04-24 15:55:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9150, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:01 [info] currentZPosition:0.126
2025-04-24 15:55:02 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:02 [debug] Diagnostics for board 50:
2025-04-24 15:55:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:57:07 ago, cause: software
2025-04-24 15:55:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:02 [debug] Moves scheduled 45586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 119, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3705453054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:55:02 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18374, writes 0 timeouts 0
2025-04-24 15:55:02 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36055/37123
2025-04-24 15:55:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:02 [info] currentZPosition:0.124
2025-04-24 15:55:02 [debug] Stopped at height 0.122 mm
2025-04-24 15:55:03 [debug] Stopped at height 0.121 mm
2025-04-24 15:55:04 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:04 [debug] Diagnostics for board 50:
2025-04-24 15:55:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:57:09 ago, cause: software
2025-04-24 15:55:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:04 [debug] Moves scheduled 45594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3703949154 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:55:04 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25235, writes 0 timeouts 0
2025-04-24 15:55:04 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36395/37147
2025-04-24 15:55:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:04 [info] currentZPosition:0.124
2025-04-24 15:55:04 [debug] Stopped at height 0.122 mm
2025-04-24 15:55:06 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:06 [debug] Diagnostics for board 50:
2025-04-24 15:55:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:57:11 ago, cause: software
2025-04-24 15:55:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:06 [debug] Moves scheduled 45600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 99, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3702649500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:55:06 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21818, writes 0 timeouts 0
2025-04-24 15:55:06 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36032/37173
2025-04-24 15:55:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:06 [info] currentZPosition:0.124
2025-04-24 15:55:06 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:07 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:07 [debug] Diagnostics for board 50:
2025-04-24 15:55:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:12 ago, cause: software
2025-04-24 15:55:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:07 [debug] Moves scheduled 45606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3701398212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:55:07 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20994, writes 0 timeouts 0
2025-04-24 15:55:07 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36195/37118
2025-04-24 15:55:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:07 [info] currentZPosition:0.124
2025-04-24 15:55:08 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:09 [debug] Stopped at height 0.126 mm
2025-04-24 15:55:09 [debug] Diagnostics for board 50:
2025-04-24 15:55:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:14 ago, cause: software
2025-04-24 15:55:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:09 [debug] Moves scheduled 45612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3700143866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:55:09 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21064, writes 0 timeouts 0
2025-04-24 15:55:09 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36029/37135
2025-04-24 15:55:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9169, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:09 [info] currentZPosition:0.126
2025-04-24 15:55:09 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:11 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:11 [debug] Diagnostics for board 50:
2025-04-24 15:55:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:57:16 ago, cause: software
2025-04-24 15:55:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:11 [debug] Moves scheduled 45618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -3/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3698862006 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:55:11 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21512, writes 0 timeouts 0
2025-04-24 15:55:11 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36127/37097
2025-04-24 15:55:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:11 [info] currentZPosition:0.125
2025-04-24 15:55:11 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:12 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:12 [debug] Diagnostics for board 50:
2025-04-24 15:55:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:57:17 ago, cause: software
2025-04-24 15:55:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:12 [debug] Moves scheduled 45624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3697564860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:55:12 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21778, writes 0 timeouts 0
2025-04-24 15:55:12 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36055/37134
2025-04-24 15:55:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9243, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:12 [info] currentZPosition:0.125
2025-04-24 15:55:14 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:14 [debug] Diagnostics for board 50:
2025-04-24 15:55:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:19 ago, cause: software
2025-04-24 15:55:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:14 [debug] Moves scheduled 45628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 103, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3696524299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:55:14 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17475, writes 0 timeouts 0
2025-04-24 15:55:14 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36155/37115
2025-04-24 15:55:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:14 [info] currentZPosition:0.124
2025-04-24 15:55:15 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:15 [debug] Diagnostics for board 50:
2025-04-24 15:55:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:20 ago, cause: software
2025-04-24 15:55:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:15 [debug] Moves scheduled 45632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3695468477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:55:15 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17697, writes 0 timeouts 0
2025-04-24 15:55:15 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36002/37158
2025-04-24 15:55:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:15 [info] currentZPosition:0.124
2025-04-24 15:55:17 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:17 [debug] Diagnostics for board 50:
2025-04-24 15:55:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:21 ago, cause: software
2025-04-24 15:55:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:17 [debug] Moves scheduled 45636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 119, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3694461286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:55:17 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16892, writes 0 timeouts 0
2025-04-24 15:55:17 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36117/37122
2025-04-24 15:55:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:17 [info] currentZPosition:0.125
2025-04-24 15:55:18 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:18 [debug] Diagnostics for board 50:
2025-04-24 15:55:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:23 ago, cause: software
2025-04-24 15:55:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:18 [debug] Moves scheduled 45640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 121, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3693388441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:55:18 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18027, writes 0 timeouts 0
2025-04-24 15:55:18 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36009/37125
2025-04-24 15:55:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:18 [info] currentZPosition:0.124
2025-04-24 15:55:19 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:19 [debug] Diagnostics for board 50:
2025-04-24 15:55:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:57:24 ago, cause: software
2025-04-24 15:55:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:19 [debug] Moves scheduled 45644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 121, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3692363971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:55:19 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17159, writes 0 timeouts 0
2025-04-24 15:55:19 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36146/37149
2025-04-24 15:55:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:19 [info] currentZPosition:0.124
2025-04-24 15:55:21 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:21 [debug] Diagnostics for board 50:
2025-04-24 15:55:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 05:57:26 ago, cause: software
2025-04-24 15:55:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:21 [debug] Moves scheduled 45648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 117, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3691311073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:55:21 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17663, writes 0 timeouts 0
2025-04-24 15:55:21 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36058/37158
2025-04-24 15:55:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:21 [info] currentZPosition:0.124
2025-04-24 15:55:22 [debug] Stopped at height 0.127 mm
2025-04-24 15:55:22 [debug] Diagnostics for board 50:
2025-04-24 15:55:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:57:27 ago, cause: software
2025-04-24 15:55:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:22 [debug] Moves scheduled 45652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3690333610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:55:22 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16426, writes 0 timeouts 0
2025-04-24 15:55:22 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36061/37112
2025-04-24 15:55:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9156, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 829
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:22 [info] currentZPosition:0.127
2025-04-24 15:55:23 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:24 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:24 [debug] Diagnostics for board 50:
2025-04-24 15:55:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:57:29 ago, cause: software
2025-04-24 15:55:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:24 [debug] Moves scheduled 45658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 100, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3688982082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 15:55:24 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22647, writes 0 timeouts 0
2025-04-24 15:55:24 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36059/37170
2025-04-24 15:55:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:24 [info] currentZPosition:0.123
2025-04-24 15:55:24 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:25 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:25 [debug] Diagnostics for board 50:
2025-04-24 15:55:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:30 ago, cause: software
2025-04-24 15:55:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:25 [debug] Moves scheduled 45664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3687742116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:55:25 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20808, writes 0 timeouts 0
2025-04-24 15:55:25 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36062/37149
2025-04-24 15:55:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:26 [info] currentZPosition:0.124
2025-04-24 15:55:27 [debug] Stopped at height 0.126 mm
2025-04-24 15:55:27 [debug] Diagnostics for board 50:
2025-04-24 15:55:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:32 ago, cause: software
2025-04-24 15:55:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:27 [debug] Moves scheduled 45668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3686725140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:55:27 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17095, writes 0 timeouts 0
2025-04-24 15:55:27 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36014/37126
2025-04-24 15:55:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:27 [info] currentZPosition:0.126
2025-04-24 15:55:27 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:29 [debug] Stopped at height 0.126 mm
2025-04-24 15:55:29 [debug] Diagnostics for board 50:
2025-04-24 15:55:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:33 ago, cause: software
2025-04-24 15:55:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:29 [debug] Moves scheduled 45674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 63, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3685458745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:55:29 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21238, writes 0 timeouts 0
2025-04-24 15:55:29 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36089/37108
2025-04-24 15:55:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9199, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:29 [info] currentZPosition:0.126
2025-04-24 15:55:29 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:30 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:30 [debug] Diagnostics for board 50:
2025-04-24 15:55:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:35 ago, cause: software
2025-04-24 15:55:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:30 [debug] Moves scheduled 45680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 1/4, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3684150918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:55:30 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21929, writes 0 timeouts 0
2025-04-24 15:55:30 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36078/37097
2025-04-24 15:55:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9248, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:30 [info] currentZPosition:0.125
2025-04-24 15:55:32 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:32 [debug] Diagnostics for board 50:
2025-04-24 15:55:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:37 ago, cause: software
2025-04-24 15:55:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:32 [debug] Moves scheduled 45684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 96, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3683130918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:55:32 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17121, writes 0 timeouts 0
2025-04-24 15:55:32 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 337, adv 36111/37121
2025-04-24 15:55:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:32 [info] currentZPosition:0.125
2025-04-24 15:55:33 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:33 [debug] Diagnostics for board 50:
2025-04-24 15:55:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:38 ago, cause: software
2025-04-24 15:55:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:33 [debug] Moves scheduled 45688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10416, max=15000
Sync err accum 107, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3682065220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:55:33 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17878, writes 0 timeouts 0
2025-04-24 15:55:33 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36041/37118
2025-04-24 15:55:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:33 [info] currentZPosition:0.124
2025-04-24 15:55:34 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:34 [debug] Diagnostics for board 50:
2025-04-24 15:55:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:39 ago, cause: software
2025-04-24 15:55:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:34 [debug] Moves scheduled 45692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10714, max=15000
Sync err accum 110, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3681040356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:55:34 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17200, writes 0 timeouts 0
2025-04-24 15:55:34 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36061/37082
2025-04-24 15:55:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:35 [info] currentZPosition:0.124
2025-04-24 15:55:36 [debug] Stopped at height 0.126 mm
2025-04-24 15:55:36 [debug] Diagnostics for board 50:
2025-04-24 15:55:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:41 ago, cause: software
2025-04-24 15:55:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:36 [debug] Moves scheduled 45696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 114, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3680018813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:55:36 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17138, writes 0 timeouts 0
2025-04-24 15:55:36 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36003/37133
2025-04-24 15:55:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9195, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:36 [info] currentZPosition:0.126
2025-04-24 15:55:36 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:38 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:38 [debug] Diagnostics for board 50:
2025-04-24 15:55:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:42 ago, cause: software
2025-04-24 15:55:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:38 [debug] Moves scheduled 45702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3678732343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:55:38 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21569, writes 0 timeouts 0
2025-04-24 15:55:38 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36112/37157
2025-04-24 15:55:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:38 [info] currentZPosition:0.124
2025-04-24 15:55:39 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:39 [debug] Diagnostics for board 50:
2025-04-24 15:55:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:44 ago, cause: software
2025-04-24 15:55:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:39 [debug] Moves scheduled 45706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3677679047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:55:39 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17687, writes 0 timeouts 0
2025-04-24 15:55:39 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36012/37165
2025-04-24 15:55:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:39 [info] currentZPosition:0.125
2025-04-24 15:55:40 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:40 [debug] Diagnostics for board 50:
2025-04-24 15:55:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:45 ago, cause: software
2025-04-24 15:55:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:40 [debug] Moves scheduled 45710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3676651748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:55:40 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17235, writes 0 timeouts 0
2025-04-24 15:55:40 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36151/37122
2025-04-24 15:55:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:40 [info] currentZPosition:0.124
2025-04-24 15:55:42 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:42 [debug] Diagnostics for board 50:
2025-04-24 15:55:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 05:57:47 ago, cause: software
2025-04-24 15:55:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:42 [debug] Moves scheduled 45714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3675601575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:55:42 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17630, writes 0 timeouts 0
2025-04-24 15:55:42 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36050/37159
2025-04-24 15:55:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:42 [info] currentZPosition:0.125
2025-04-24 15:55:43 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:43 [debug] Diagnostics for board 50:
2025-04-24 15:55:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:57:48 ago, cause: software
2025-04-24 15:55:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:43 [debug] Moves scheduled 45718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3674587792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:55:43 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17005, writes 0 timeouts 0
2025-04-24 15:55:43 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36074/37123
2025-04-24 15:55:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9217, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:43 [info] currentZPosition:0.125
2025-04-24 15:55:44 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:44 [debug] Diagnostics for board 50:
2025-04-24 15:55:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:57:49 ago, cause: software
2025-04-24 15:55:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:44 [debug] Moves scheduled 45722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -3/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3673523455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:55:44 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17864, writes 0 timeouts 0
2025-04-24 15:55:44 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36036/37134
2025-04-24 15:55:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:45 [info] currentZPosition:0.125
2025-04-24 15:55:46 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:46 [debug] Diagnostics for board 50:
2025-04-24 15:55:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:51 ago, cause: software
2025-04-24 15:55:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:46 [debug] Moves scheduled 45726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3672454617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:55:46 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17925, writes 0 timeouts 0
2025-04-24 15:55:46 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36097/37162
2025-04-24 15:55:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9385, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:46 [info] currentZPosition:0.123
2025-04-24 15:55:46 [debug] Stopped at height 0.121 mm
2025-04-24 15:55:48 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:48 [debug] Diagnostics for board 50:
2025-04-24 15:55:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:52 ago, cause: software
2025-04-24 15:55:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:48 [debug] Moves scheduled 45732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3671202004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:55:48 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21015, writes 0 timeouts 0
2025-04-24 15:55:48 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36070/37144
2025-04-24 15:55:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9249, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:48 [info] currentZPosition:0.125
2025-04-24 15:55:48 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:48 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:50 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:50 [debug] Diagnostics for board 50:
2025-04-24 15:55:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:54 ago, cause: software
2025-04-24 15:55:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:50 [debug] Moves scheduled 45740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 69, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3669685034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:55:50 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25453, writes 0 timeouts 0
2025-04-24 15:55:50 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36068/37103
2025-04-24 15:55:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:50 [info] currentZPosition:0.124
2025-04-24 15:55:51 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:51 [debug] Diagnostics for board 50:
2025-04-24 15:55:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:56 ago, cause: software
2025-04-24 15:55:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:51 [debug] Moves scheduled 45744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3668632078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:55:51 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17676, writes 0 timeouts 0
2025-04-24 15:55:51 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36086/37095
2025-04-24 15:55:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:51 [info] currentZPosition:0.124
2025-04-24 15:55:52 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:52 [debug] Diagnostics for board 50:
2025-04-24 15:55:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:57:57 ago, cause: software
2025-04-24 15:55:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:52 [debug] Moves scheduled 45748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 72, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3667630615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:55:52 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16791, writes 0 timeouts 0
2025-04-24 15:55:52 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36106/37167
2025-04-24 15:55:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9213, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:52 [info] currentZPosition:0.125
2025-04-24 15:55:54 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:54 [debug] Diagnostics for board 50:
2025-04-24 15:55:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:57:59 ago, cause: software
2025-04-24 15:55:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:54 [debug] Moves scheduled 45752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3666542698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:55:54 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18266, writes 0 timeouts 0
2025-04-24 15:55:54 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36003/37155
2025-04-24 15:55:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:54 [info] currentZPosition:0.124
2025-04-24 15:55:54 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:55 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:55 [debug] Diagnostics for board 50:
2025-04-24 15:55:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:58:00 ago, cause: software
2025-04-24 15:55:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:55 [debug] Moves scheduled 45758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3665308139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:55:55 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20714, writes 0 timeouts 0
2025-04-24 15:55:55 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36075/37147
2025-04-24 15:55:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:56 [info] currentZPosition:0.125
2025-04-24 15:55:56 [debug] Stopped at height 0.123 mm
2025-04-24 15:55:57 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:57 [debug] Diagnostics for board 50:
2025-04-24 15:55:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:02 ago, cause: software
2025-04-24 15:55:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:57 [debug] Moves scheduled 45764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3664010866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:55:57 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21765, writes 0 timeouts 0
2025-04-24 15:55:57 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36070/37128
2025-04-24 15:55:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:57 [info] currentZPosition:0.125
2025-04-24 15:55:58 [debug] Stopped at height 0.124 mm
2025-04-24 15:55:59 [debug] Stopped at height 0.125 mm
2025-04-24 15:55:59 [debug] Diagnostics for board 50:
2025-04-24 15:55:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:55:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:04 ago, cause: software
2025-04-24 15:55:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:55:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:55:59 [debug] Moves scheduled 45770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3662747566 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:55:59 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21195, writes 0 timeouts 0
2025-04-24 15:55:59 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36067/37115
2025-04-24 15:55:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:55:59 [info] currentZPosition:0.125
2025-04-24 15:56:00 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:00 [debug] Diagnostics for board 50:
2025-04-24 15:56:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:05 ago, cause: software
2025-04-24 15:56:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:00 [debug] Moves scheduled 45774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3661719184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:56:00 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17263, writes 0 timeouts 0
2025-04-24 15:56:00 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36040/37115
2025-04-24 15:56:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:00 [info] currentZPosition:0.126
2025-04-24 15:56:01 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:02 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:02 [debug] Diagnostics for board 50:
2025-04-24 15:56:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:58:07 ago, cause: software
2025-04-24 15:56:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:02 [debug] Moves scheduled 45780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3660441822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:56:02 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21434, writes 0 timeouts 0
2025-04-24 15:56:02 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36067/37107
2025-04-24 15:56:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:02 [info] currentZPosition:0.125
2025-04-24 15:56:03 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:03 [debug] Diagnostics for board 50:
2025-04-24 15:56:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:08 ago, cause: software
2025-04-24 15:56:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:03 [debug] Moves scheduled 45784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3659372500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:56:03 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17934, writes 0 timeouts 0
2025-04-24 15:56:03 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36023/37095
2025-04-24 15:56:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:03 [info] currentZPosition:0.125
2025-04-24 15:56:05 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:05 [debug] Diagnostics for board 50:
2025-04-24 15:56:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 05:58:10 ago, cause: software
2025-04-24 15:56:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:05 [debug] Moves scheduled 45788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3658375002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:56:05 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16730, writes 0 timeouts 0
2025-04-24 15:56:05 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36247/37118
2025-04-24 15:56:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9223, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:05 [info] currentZPosition:0.126
2025-04-24 15:56:05 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:06 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:06 [debug] Diagnostics for board 50:
2025-04-24 15:56:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:11 ago, cause: software
2025-04-24 15:56:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:06 [debug] Moves scheduled 45794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3657049757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:56:06 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22248, writes 0 timeouts 0
2025-04-24 15:56:06 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 435, adv 36012/37131
2025-04-24 15:56:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:07 [info] currentZPosition:0.124
2025-04-24 15:56:08 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:08 [debug] Diagnostics for board 50:
2025-04-24 15:56:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:13 ago, cause: software
2025-04-24 15:56:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:08 [debug] Moves scheduled 45798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 110, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3656024248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:56:08 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17218, writes 0 timeouts 0
2025-04-24 15:56:08 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36305/37118
2025-04-24 15:56:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:08 [info] currentZPosition:0.124
2025-04-24 15:56:09 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:09 [debug] Diagnostics for board 50:
2025-04-24 15:56:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:14 ago, cause: software
2025-04-24 15:56:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:09 [debug] Moves scheduled 45802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 121, peak jitter 0/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3655015939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:56:09 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16940, writes 0 timeouts 0
2025-04-24 15:56:09 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36009/37080
2025-04-24 15:56:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:09 [info] currentZPosition:0.126
2025-04-24 15:56:10 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:11 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:11 [debug] Diagnostics for board 50:
2025-04-24 15:56:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:16 ago, cause: software
2025-04-24 15:56:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:11 [debug] Moves scheduled 45808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 125, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3653742584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:56:11 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21330, writes 0 timeouts 0
2025-04-24 15:56:11 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36349/37162
2025-04-24 15:56:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:11 [info] currentZPosition:0.125
2025-04-24 15:56:12 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:12 [debug] Diagnostics for board 50:
2025-04-24 15:56:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:17 ago, cause: software
2025-04-24 15:56:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:12 [debug] Moves scheduled 45812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 126, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3652692360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:56:12 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17643, writes 0 timeouts 0
2025-04-24 15:56:12 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36072/37117
2025-04-24 15:56:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:12 [info] currentZPosition:0.126
2025-04-24 15:56:14 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:14 [debug] Diagnostics for board 50:
2025-04-24 15:56:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:58:18 ago, cause: software
2025-04-24 15:56:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:14 [debug] Moves scheduled 45816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 125, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3651672127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:56:14 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17151, writes 0 timeouts 0
2025-04-24 15:56:14 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36337/37120
2025-04-24 15:56:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:14 [info] currentZPosition:0.126
2025-04-24 15:56:15 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:15 [debug] Diagnostics for board 50:
2025-04-24 15:56:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:20 ago, cause: software
2025-04-24 15:56:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:15 [debug] Moves scheduled 45820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 120, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3650606131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:56:15 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17837, writes 0 timeouts 0
2025-04-24 15:56:15 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36022/37131
2025-04-24 15:56:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:15 [info] currentZPosition:0.125
2025-04-24 15:56:16 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:16 [debug] Diagnostics for board 50:
2025-04-24 15:56:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:21 ago, cause: software
2025-04-24 15:56:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:16 [debug] Moves scheduled 45824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3649548282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 15:56:16 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17755, writes 0 timeouts 0
2025-04-24 15:56:16 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36323/37118
2025-04-24 15:56:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9380, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:17 [info] currentZPosition:0.124
2025-04-24 15:56:17 [debug] Stopped at height 0.123 mm
2025-04-24 15:56:18 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:18 [debug] Diagnostics for board 50:
2025-04-24 15:56:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:23 ago, cause: software
2025-04-24 15:56:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:18 [debug] Moves scheduled 45830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 91, peak jitter -3/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3648283104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:56:18 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21248, writes 0 timeouts 0
2025-04-24 15:56:18 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36046/37103
2025-04-24 15:56:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:18 [info] currentZPosition:0.125
2025-04-24 15:56:19 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:20 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:20 [debug] Diagnostics for board 50:
2025-04-24 15:56:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:25 ago, cause: software
2025-04-24 15:56:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:20 [debug] Moves scheduled 45836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3647019792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:56:20 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21178, writes 0 timeouts 0
2025-04-24 15:56:20 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36348/37146
2025-04-24 15:56:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:20 [info] currentZPosition:0.125
2025-04-24 15:56:21 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:21 [debug] Diagnostics for board 50:
2025-04-24 15:56:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:26 ago, cause: software
2025-04-24 15:56:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:21 [debug] Moves scheduled 45840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 58, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3645983004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:56:21 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17397, writes 0 timeouts 0
2025-04-24 15:56:21 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36016/37160
2025-04-24 15:56:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9221, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:21 [info] currentZPosition:0.126
2025-04-24 15:56:23 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:23 [debug] Diagnostics for board 50:
2025-04-24 15:56:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:27 ago, cause: software
2025-04-24 15:56:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:23 [debug] Moves scheduled 45844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3644952296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:56:23 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17325, writes 0 timeouts 0
2025-04-24 15:56:23 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36299/37107
2025-04-24 15:56:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9229, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:23 [info] currentZPosition:0.126
2025-04-24 15:56:24 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:24 [debug] Diagnostics for board 50:
2025-04-24 15:56:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:29 ago, cause: software
2025-04-24 15:56:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:24 [debug] Moves scheduled 45848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3643877793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:56:24 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18006, writes 0 timeouts 0
2025-04-24 15:56:24 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 35993/37136
2025-04-24 15:56:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:24 [info] currentZPosition:0.125
2025-04-24 15:56:25 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:25 [debug] Diagnostics for board 50:
2025-04-24 15:56:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:30 ago, cause: software
2025-04-24 15:56:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:25 [debug] Moves scheduled 45852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3642861242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:56:25 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17056, writes 0 timeouts 0
2025-04-24 15:56:25 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36298/37085
2025-04-24 15:56:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:25 [info] currentZPosition:0.126
2025-04-24 15:56:27 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:27 [debug] Diagnostics for board 50:
2025-04-24 15:56:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:32 ago, cause: software
2025-04-24 15:56:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:27 [debug] Moves scheduled 45856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 114, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3641805349 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:56:27 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17747, writes 0 timeouts 0
2025-04-24 15:56:27 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36021/37170
2025-04-24 15:56:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:27 [info] currentZPosition:0.126
2025-04-24 15:56:28 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:28 [debug] Diagnostics for board 50:
2025-04-24 15:56:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:33 ago, cause: software
2025-04-24 15:56:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:28 [debug] Moves scheduled 45860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 119, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3640743371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:56:28 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17781, writes 0 timeouts 0
2025-04-24 15:56:28 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36387/37115
2025-04-24 15:56:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:28 [info] currentZPosition:0.124
2025-04-24 15:56:29 [debug] Stopped at height 0.123 mm
2025-04-24 15:56:30 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:30 [debug] Diagnostics for board 50:
2025-04-24 15:56:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:58:35 ago, cause: software
2025-04-24 15:56:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:30 [debug] Moves scheduled 45866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 127, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3639471249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:56:30 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21355, writes 0 timeouts 0
2025-04-24 15:56:30 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36032/37097
2025-04-24 15:56:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:30 [info] currentZPosition:0.125
2025-04-24 15:56:30 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:32 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:32 [debug] Diagnostics for board 50:
2025-04-24 15:56:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:36 ago, cause: software
2025-04-24 15:56:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:32 [debug] Moves scheduled 45872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 125, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3638218710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:56:32 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21017, writes 0 timeouts 0
2025-04-24 15:56:32 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36316/37124
2025-04-24 15:56:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:32 [info] currentZPosition:0.126
2025-04-24 15:56:32 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:33 [debug] Stopped at height 0.127 mm
2025-04-24 15:56:33 [debug] Diagnostics for board 50:
2025-04-24 15:56:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:38 ago, cause: software
2025-04-24 15:56:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:33 [debug] Moves scheduled 45878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 121, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3636955276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:56:33 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21186, writes 0 timeouts 0
2025-04-24 15:56:33 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36051/37119
2025-04-24 15:56:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9173, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:33 [info] currentZPosition:0.127
2025-04-24 15:56:34 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:35 [debug] Stopped at height 0.127 mm
2025-04-24 15:56:35 [debug] Diagnostics for board 50:
2025-04-24 15:56:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:40 ago, cause: software
2025-04-24 15:56:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:35 [debug] Moves scheduled 45884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=487, max=15000
Sync err accum 114, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3635697683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:56:35 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21079, writes 11 timeouts 1
2025-04-24 15:56:35 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36379/37115
2025-04-24 15:56:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:35 [info] currentZPosition:0.127
2025-04-24 15:56:35 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:37 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:37 [debug] Diagnostics for board 50:
2025-04-24 15:56:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:42 ago, cause: software
2025-04-24 15:56:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:37 [debug] Moves scheduled 45890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 100, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3634359368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 15:56:37 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22464, writes 0 timeouts 0
2025-04-24 15:56:37 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36057/37125
2025-04-24 15:56:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:37 [info] currentZPosition:0.125
2025-04-24 15:56:37 [debug] Stopped at height 0.123 mm
2025-04-24 15:56:37 [debug] Stopped at height 0.123 mm
2025-04-24 15:56:39 [debug] Stopped at height 0.127 mm
2025-04-24 15:56:39 [debug] Diagnostics for board 50:
2025-04-24 15:56:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:44 ago, cause: software
2025-04-24 15:56:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:39 [debug] Moves scheduled 45898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 77, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3632895774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:56:39 [debug] Driver 0: pos -3530, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 24571, writes 0 timeouts 0
2025-04-24 15:56:39 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36348/37098
2025-04-24 15:56:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9168, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:39 [info] currentZPosition:0.127
2025-04-24 15:56:39 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:39 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:41 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:41 [debug] Diagnostics for board 50:
2025-04-24 15:56:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:58:46 ago, cause: software
2025-04-24 15:56:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:41 [debug] Moves scheduled 45906, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -4/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3631313815 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:56:41 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26547, writes 0 timeouts 0
2025-04-24 15:56:41 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36028/37124
2025-04-24 15:56:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:41 [info] currentZPosition:0.125
2025-04-24 15:56:42 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:42 [debug] Diagnostics for board 50:
2025-04-24 15:56:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 05:58:47 ago, cause: software
2025-04-24 15:56:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:42 [debug] Moves scheduled 45910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3630283543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:56:42 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17289, writes 0 timeouts 0
2025-04-24 15:56:42 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36347/37071
2025-04-24 15:56:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:42 [info] currentZPosition:0.125
2025-04-24 15:56:43 [debug] Stopped at height 0.129 mm
2025-04-24 15:56:43 [debug] Diagnostics for board 50:
2025-04-24 15:56:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:48 ago, cause: software
2025-04-24 15:56:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:43 [debug] Moves scheduled 45914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3629304538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:56:43 [debug] Driver 0: pos -3512, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16422, writes 0 timeouts 0
2025-04-24 15:56:43 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36028/37100
2025-04-24 15:56:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9074, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:44 [info] currentZPosition:0.129
2025-04-24 15:56:44 [debug] Stopped at height 0.128 mm
2025-04-24 15:56:45 [debug] Stopped at height 0.124 mm
2025-04-24 15:56:45 [debug] Diagnostics for board 50:
2025-04-24 15:56:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:50 ago, cause: software
2025-04-24 15:56:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:45 [debug] Moves scheduled 45920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3627952830 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:56:45 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22677, writes 0 timeouts 0
2025-04-24 15:56:45 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36328/37110
2025-04-24 15:56:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:45 [info] currentZPosition:0.124
2025-04-24 15:56:46 [debug] Stopped at height 0.123 mm
2025-04-24 15:56:47 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:47 [debug] Diagnostics for board 50:
2025-04-24 15:56:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:52 ago, cause: software
2025-04-24 15:56:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:47 [debug] Moves scheduled 45926, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3626615920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:56:47 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22445, writes 0 timeouts 0
2025-04-24 15:56:47 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36025/37132
2025-04-24 15:56:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:47 [info] currentZPosition:0.125
2025-04-24 15:56:48 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:48 [debug] Diagnostics for board 50:
2025-04-24 15:56:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:53 ago, cause: software
2025-04-24 15:56:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:48 [debug] Moves scheduled 45930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3625614262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:56:48 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16807, writes 0 timeouts 0
2025-04-24 15:56:48 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36338/37120
2025-04-24 15:56:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:48 [info] currentZPosition:0.126
2025-04-24 15:56:50 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:50 [debug] Diagnostics for board 50:
2025-04-24 15:56:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:55 ago, cause: software
2025-04-24 15:56:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:50 [debug] Moves scheduled 45934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10000, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3624547784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, ma
2025-04-24 15:56:50 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17897, writes 0 timeouts 0
2025-04-24 15:56:50 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36019/37153
2025-04-24 15:56:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:50 [info] currentZPosition:0.125
2025-04-24 15:56:51 [debug] Stopped at height 0.127 mm
2025-04-24 15:56:51 [debug] Diagnostics for board 50:
2025-04-24 15:56:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:56 ago, cause: software
2025-04-24 15:56:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:51 [debug] Moves scheduled 45938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 100, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3623554699 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:56:51 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16662, writes 0 timeouts 0
2025-04-24 15:56:51 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36298/37123
2025-04-24 15:56:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:51 [info] currentZPosition:0.127
2025-04-24 15:56:52 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:53 [debug] Stopped at height 0.125 mm
2025-04-24 15:56:53 [debug] Diagnostics for board 50:
2025-04-24 15:56:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:58:58 ago, cause: software
2025-04-24 15:56:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:53 [debug] Moves scheduled 45944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3622228279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:56:53 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22296, writes 0 timeouts 0
2025-04-24 15:56:53 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36026/37166
2025-04-24 15:56:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:53 [info] currentZPosition:0.125
2025-04-24 15:56:54 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:54 [debug] Diagnostics for board 50:
2025-04-24 15:56:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:58:59 ago, cause: software
2025-04-24 15:56:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:54 [debug] Moves scheduled 45948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3621228176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:56:54 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16762, writes 0 timeouts 0
2025-04-24 15:56:54 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36334/37143
2025-04-24 15:56:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:54 [info] currentZPosition:0.126
2025-04-24 15:56:55 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:56 [debug] Stopped at height 0.128 mm
2025-04-24 15:56:56 [debug] Diagnostics for board 50:
2025-04-24 15:56:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:01 ago, cause: software
2025-04-24 15:56:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:56 [debug] Moves scheduled 45954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 64, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3619963708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:56:56 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21204, writes 0 timeouts 0
2025-04-24 15:56:56 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36065/37110
2025-04-24 15:56:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9190, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:56 [info] currentZPosition:0.128
2025-04-24 15:56:56 [debug] Stopped at height 0.127 mm
2025-04-24 15:56:58 [debug] Stopped at height 0.126 mm
2025-04-24 15:56:58 [debug] Diagnostics for board 50:
2025-04-24 15:56:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:02 ago, cause: software
2025-04-24 15:56:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:58 [debug] Moves scheduled 45960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -2/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3618679705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:56:58 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21569, writes 0 timeouts 0
2025-04-24 15:56:58 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36305/37142
2025-04-24 15:56:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:58 [info] currentZPosition:0.126
2025-04-24 15:56:59 [debug] Stopped at height 0.127 mm
2025-04-24 15:56:59 [debug] Diagnostics for board 50:
2025-04-24 15:56:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:56:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:04 ago, cause: software
2025-04-24 15:56:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:56:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:56:59 [debug] Moves scheduled 45964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3617634009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:56:59 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17520, writes 0 timeouts 0
2025-04-24 15:56:59 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36044/37102
2025-04-24 15:56:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9224, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:56:59 [info] currentZPosition:0.127
2025-04-24 15:57:00 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:00 [debug] Diagnostics for board 50:
2025-04-24 15:57:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:59:05 ago, cause: software
2025-04-24 15:57:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:00 [debug] Moves scheduled 45968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3616631978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:57:00 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16806, writes 0 timeouts 0
2025-04-24 15:57:00 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36347/37164
2025-04-24 15:57:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9177, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:00 [info] currentZPosition:0.128
2025-04-24 15:57:01 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:02 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:02 [debug] Diagnostics for board 50:
2025-04-24 15:57:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:07 ago, cause: software
2025-04-24 15:57:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:02 [debug] Moves scheduled 45974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 100, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3615314095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:57:02 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22137, writes 0 timeouts 0
2025-04-24 15:57:02 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36013/37128
2025-04-24 15:57:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:02 [info] currentZPosition:0.127
2025-04-24 15:57:03 [debug] Stopped at height 0.125 mm
2025-04-24 15:57:04 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:04 [debug] Diagnostics for board 50:
2025-04-24 15:57:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:09 ago, cause: software
2025-04-24 15:57:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:04 [debug] Moves scheduled 45980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3614050231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:57:04 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21210, writes 0 timeouts 0
2025-04-24 15:57:04 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36257/37126
2025-04-24 15:57:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9242, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:04 [info] currentZPosition:0.127
2025-04-24 15:57:05 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:05 [debug] Diagnostics for board 50:
2025-04-24 15:57:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:10 ago, cause: software
2025-04-24 15:57:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:05 [debug] Moves scheduled 45984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4294967242 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3612985983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU 
2025-04-24 15:57:05 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17846, writes 0 timeouts 0
2025-04-24 15:57:05 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36047/37124
2025-04-24 15:57:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:05 [info] currentZPosition:0.126
2025-04-24 15:57:07 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:07 [debug] Diagnostics for board 50:
2025-04-24 15:57:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:11 ago, cause: software
2025-04-24 15:57:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:07 [debug] Moves scheduled 45988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3611950755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:57:07 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17393, writes 0 timeouts 0
2025-04-24 15:57:07 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36072/37110
2025-04-24 15:57:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:07 [info] currentZPosition:0.126
2025-04-24 15:57:08 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:08 [debug] Diagnostics for board 50:
2025-04-24 15:57:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:13 ago, cause: software
2025-04-24 15:57:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:08 [debug] Moves scheduled 45992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -1/-1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3610922610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:57:08 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17236, writes 0 timeouts 0
2025-04-24 15:57:08 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36047/37096
2025-04-24 15:57:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9212, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:08 [info] currentZPosition:0.127
2025-04-24 15:57:08 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:10 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:10 [debug] Diagnostics for board 50:
2025-04-24 15:57:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:15 ago, cause: software
2025-04-24 15:57:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:10 [debug] Moves scheduled 45998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 83, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3609655875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:57:10 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21252, writes 0 timeouts 0
2025-04-24 15:57:10 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36142/37127
2025-04-24 15:57:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:10 [info] currentZPosition:0.126
2025-04-24 15:57:11 [debug] Stopped at height 0.125 mm
2025-04-24 15:57:11 [debug] Diagnostics for board 50:
2025-04-24 15:57:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:16 ago, cause: software
2025-04-24 15:57:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:11 [debug] Moves scheduled 46002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3608584013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:57:11 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18013, writes 0 timeouts 0
2025-04-24 15:57:11 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36085/37171
2025-04-24 15:57:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:11 [info] currentZPosition:0.125
2025-04-24 15:57:12 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:12 [debug] Diagnostics for board 50:
2025-04-24 15:57:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:17 ago, cause: software
2025-04-24 15:57:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:12 [debug] Moves scheduled 46006, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3607573259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:57:12 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16967, writes 0 timeouts 0
2025-04-24 15:57:12 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36086/37140
2025-04-24 15:57:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:12 [info] currentZPosition:0.126
2025-04-24 15:57:14 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:14 [debug] Diagnostics for board 50:
2025-04-24 15:57:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:19 ago, cause: software
2025-04-24 15:57:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:14 [debug] Moves scheduled 46010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 78, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3606524292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:57:14 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17571, writes 0 timeouts 0
2025-04-24 15:57:14 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36001/37125
2025-04-24 15:57:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:14 [info] currentZPosition:0.127
2025-04-24 15:57:15 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:15 [debug] Diagnostics for board 50:
2025-04-24 15:57:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:59:20 ago, cause: software
2025-04-24 15:57:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:15 [debug] Moves scheduled 46014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3605497207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:57:15 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17243, writes 0 timeouts 0
2025-04-24 15:57:15 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36107/37098
2025-04-24 15:57:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:15 [info] currentZPosition:0.127
2025-04-24 15:57:17 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:17 [debug] Diagnostics for board 50:
2025-04-24 15:57:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:59:21 ago, cause: software
2025-04-24 15:57:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:17 [debug] Moves scheduled 46018, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3604473125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:57:17 [debug] Driver 0: pos -3527, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17178, writes 0 timeouts 0
2025-04-24 15:57:17 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35924/37119
2025-04-24 15:57:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 830
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9142, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:17 [info] currentZPosition:0.128
2025-04-24 15:57:17 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:18 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:18 [debug] Diagnostics for board 50:
2025-04-24 15:57:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:23 ago, cause: software
2025-04-24 15:57:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:18 [debug] Moves scheduled 46024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3603207294 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:57:18 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21249, writes 0 timeouts 0
2025-04-24 15:57:18 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36083/37152
2025-04-24 15:57:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:18 [info] currentZPosition:0.128
2025-04-24 15:57:20 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:20 [debug] Diagnostics for board 50:
2025-04-24 15:57:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:25 ago, cause: software
2025-04-24 15:57:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:20 [debug] Moves scheduled 46028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3602114253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:57:20 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18331, writes 0 timeouts 0
2025-04-24 15:57:20 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36075/37122
2025-04-24 15:57:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:20 [info] currentZPosition:0.126
2025-04-24 15:57:20 [debug] Stopped at height 0.125 mm
2025-04-24 15:57:21 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:21 [debug] Diagnostics for board 50:
2025-04-24 15:57:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:26 ago, cause: software
2025-04-24 15:57:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:21 [debug] Moves scheduled 46034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 96, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3600855335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:57:21 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21127, writes 0 timeouts 0
2025-04-24 15:57:21 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36123/37153
2025-04-24 15:57:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:21 [info] currentZPosition:0.127
2025-04-24 15:57:23 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:23 [debug] Diagnostics for board 50:
2025-04-24 15:57:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:28 ago, cause: software
2025-04-24 15:57:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:23 [debug] Moves scheduled 46038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3599790739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:57:23 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17862, writes 0 timeouts 0
2025-04-24 15:57:23 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36058/37143
2025-04-24 15:57:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:23 [info] currentZPosition:0.126
2025-04-24 15:57:24 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:24 [debug] Diagnostics for board 50:
2025-04-24 15:57:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:29 ago, cause: software
2025-04-24 15:57:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:24 [debug] Moves scheduled 46042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3598755908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:57:24 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17369, writes 0 timeouts 0
2025-04-24 15:57:24 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36102/37120
2025-04-24 15:57:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:24 [info] currentZPosition:0.126
2025-04-24 15:57:26 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:26 [debug] Diagnostics for board 50:
2025-04-24 15:57:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:30 ago, cause: software
2025-04-24 15:57:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:26 [debug] Moves scheduled 46046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3597718365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:57:26 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17409, writes 0 timeouts 0
2025-04-24 15:57:26 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36030/37114
2025-04-24 15:57:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:26 [info] currentZPosition:0.127
2025-04-24 15:57:27 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:27 [debug] Diagnostics for board 50:
2025-04-24 15:57:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:32 ago, cause: software
2025-04-24 15:57:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:27 [debug] Moves scheduled 46050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 62, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3596703611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:57:27 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17029, writes 0 timeouts 0
2025-04-24 15:57:27 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36054/37097
2025-04-24 15:57:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9249, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:27 [info] currentZPosition:0.127
2025-04-24 15:57:28 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:28 [debug] Diagnostics for board 50:
2025-04-24 15:57:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:33 ago, cause: software
2025-04-24 15:57:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:28 [debug] Moves scheduled 46054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3595628665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:57:28 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18032, writes 0 timeouts 0
2025-04-24 15:57:28 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36028/37136
2025-04-24 15:57:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:28 [info] currentZPosition:0.126
2025-04-24 15:57:30 [debug] Stopped at height 0.129 mm
2025-04-24 15:57:30 [debug] Diagnostics for board 50:
2025-04-24 15:57:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:35 ago, cause: software
2025-04-24 15:57:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:30 [debug] Moves scheduled 46058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 90, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3594648763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:57:30 [debug] Driver 0: pos -3526, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16437, writes 0 timeouts 0
2025-04-24 15:57:30 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36086/37126
2025-04-24 15:57:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9123, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:30 [info] currentZPosition:0.129
2025-04-24 15:57:30 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:31 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:31 [debug] Diagnostics for board 50:
2025-04-24 15:57:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:36 ago, cause: software
2025-04-24 15:57:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:31 [debug] Moves scheduled 46064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3593323245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:57:31 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22246, writes 0 timeouts 0
2025-04-24 15:57:31 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36006/37143
2025-04-24 15:57:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:31 [info] currentZPosition:0.127
2025-04-24 15:57:33 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:33 [debug] Diagnostics for board 50:
2025-04-24 15:57:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:38 ago, cause: software
2025-04-24 15:57:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:33 [debug] Moves scheduled 46068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3592296807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:57:33 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17228, writes 0 timeouts 0
2025-04-24 15:57:33 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36127/37134
2025-04-24 15:57:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:33 [info] currentZPosition:0.127
2025-04-24 15:57:34 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:34 [debug] Diagnostics for board 50:
2025-04-24 15:57:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:39 ago, cause: software
2025-04-24 15:57:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:34 [debug] Moves scheduled 46072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3591253596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:57:34 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17483, writes 0 timeouts 0
2025-04-24 15:57:34 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 35995/37153
2025-04-24 15:57:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9226, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:34 [info] currentZPosition:0.128
2025-04-24 15:57:36 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:36 [debug] Diagnostics for board 50:
2025-04-24 15:57:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:40 ago, cause: software
2025-04-24 15:57:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:36 [debug] Moves scheduled 46076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3590204670 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:57:36 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17603, writes 0 timeouts 0
2025-04-24 15:57:36 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36116/37113
2025-04-24 15:57:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:36 [info] currentZPosition:0.126
2025-04-24 15:57:36 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:37 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:37 [debug] Diagnostics for board 50:
2025-04-24 15:57:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:42 ago, cause: software
2025-04-24 15:57:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:37 [debug] Moves scheduled 46082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3588931140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:57:37 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21384, writes 0 timeouts 0
2025-04-24 15:57:37 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36056/37127
2025-04-24 15:57:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:37 [info] currentZPosition:0.127
2025-04-24 15:57:39 [debug] Stopped at height 0.129 mm
2025-04-24 15:57:39 [debug] Diagnostics for board 50:
2025-04-24 15:57:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:43 ago, cause: software
2025-04-24 15:57:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:39 [debug] Moves scheduled 46086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3587934108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:57:39 [debug] Driver 0: pos -3529, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16729, writes 0 timeouts 0
2025-04-24 15:57:39 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36120/37122
2025-04-24 15:57:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9159, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:39 [info] currentZPosition:0.129
2025-04-24 15:57:39 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:40 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:40 [debug] Diagnostics for board 50:
2025-04-24 15:57:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:45 ago, cause: software
2025-04-24 15:57:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:40 [debug] Moves scheduled 46092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3586611004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:57:40 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22208, writes 0 timeouts 0
2025-04-24 15:57:40 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36017/37161
2025-04-24 15:57:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:40 [info] currentZPosition:0.127
2025-04-24 15:57:42 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:42 [debug] Diagnostics for board 50:
2025-04-24 15:57:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:47 ago, cause: software
2025-04-24 15:57:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:42 [debug] Moves scheduled 46096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3585609359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:57:42 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16807, writes 0 timeouts 0
2025-04-24 15:57:42 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36129/37170
2025-04-24 15:57:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9231, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:42 [info] currentZPosition:0.128
2025-04-24 15:57:43 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:43 [debug] Diagnostics for board 50:
2025-04-24 15:57:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:48 ago, cause: software
2025-04-24 15:57:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:43 [debug] Moves scheduled 46100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3584530660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:57:43 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18105, writes 0 timeouts 0
2025-04-24 15:57:43 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35996/37094
2025-04-24 15:57:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:43 [info] currentZPosition:0.127
2025-04-24 15:57:44 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:44 [debug] Diagnostics for board 50:
2025-04-24 15:57:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 05:59:49 ago, cause: software
2025-04-24 15:57:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:44 [debug] Moves scheduled 46104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3583535643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:57:44 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16689, writes 0 timeouts 0
2025-04-24 15:57:44 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36114/37123
2025-04-24 15:57:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:45 [info] currentZPosition:0.128
2025-04-24 15:57:45 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:46 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:46 [debug] Diagnostics for board 50:
2025-04-24 15:57:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:51 ago, cause: software
2025-04-24 15:57:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:46 [debug] Moves scheduled 46110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 101, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3582217927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:57:46 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22118, writes 0 timeouts 0
2025-04-24 15:57:46 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36036/37132
2025-04-24 15:57:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:46 [info] currentZPosition:0.127
2025-04-24 15:57:48 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:48 [debug] Diagnostics for board 50:
2025-04-24 15:57:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:52 ago, cause: software
2025-04-24 15:57:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:48 [debug] Moves scheduled 46114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 112, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3581202126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:57:48 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17045, writes 0 timeouts 0
2025-04-24 15:57:48 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36101/37133
2025-04-24 15:57:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:48 [info] currentZPosition:0.127
2025-04-24 15:57:49 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:49 [debug] Diagnostics for board 50:
2025-04-24 15:57:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:54 ago, cause: software
2025-04-24 15:57:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:49 [debug] Moves scheduled 46118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 121, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3580127572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:57:49 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18030, writes 0 timeouts 0
2025-04-24 15:57:49 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36044/37142
2025-04-24 15:57:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:49 [info] currentZPosition:0.127
2025-04-24 15:57:50 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:50 [debug] Diagnostics for board 50:
2025-04-24 15:57:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:55 ago, cause: software
2025-04-24 15:57:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:50 [debug] Moves scheduled 46122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 127, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3579118567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:57:50 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16939, writes 0 timeouts 0
2025-04-24 15:57:50 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36120/37089
2025-04-24 15:57:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:50 [info] currentZPosition:0.128
2025-04-24 15:57:52 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:52 [debug] Diagnostics for board 50:
2025-04-24 15:57:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:57 ago, cause: software
2025-04-24 15:57:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:52 [debug] Moves scheduled 46126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 124, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3578059686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:57:52 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17763, writes 0 timeouts 0
2025-04-24 15:57:52 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36055/37162
2025-04-24 15:57:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:52 [info] currentZPosition:0.128
2025-04-24 15:57:53 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:53 [debug] Diagnostics for board 50:
2025-04-24 15:57:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 05:59:58 ago, cause: software
2025-04-24 15:57:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:53 [debug] Moves scheduled 46130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 116, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3577027301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 15:57:53 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17325, writes 0 timeouts 0
2025-04-24 15:57:53 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36146/37123
2025-04-24 15:57:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:53 [info] currentZPosition:0.127
2025-04-24 15:57:55 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:55 [debug] Diagnostics for board 50:
2025-04-24 15:57:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 05:59:59 ago, cause: software
2025-04-24 15:57:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:55 [debug] Moves scheduled 46134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3575960012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 15:57:55 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17903, writes 0 timeouts 0
2025-04-24 15:57:55 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36014/37137
2025-04-24 15:57:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:55 [info] currentZPosition:0.127
2025-04-24 15:57:56 [debug] Stopped at height 0.127 mm
2025-04-24 15:57:56 [debug] Diagnostics for board 50:
2025-04-24 15:57:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:00:01 ago, cause: software
2025-04-24 15:57:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:56 [debug] Moves scheduled 46138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 91, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3574950272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:57:56 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16944, writes 0 timeouts 0
2025-04-24 15:57:56 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36155/37123
2025-04-24 15:57:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:56 [info] currentZPosition:0.127
2025-04-24 15:57:57 [debug] Stopped at height 0.126 mm
2025-04-24 15:57:57 [debug] Diagnostics for board 50:
2025-04-24 15:57:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:02 ago, cause: software
2025-04-24 15:57:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:57 [debug] Moves scheduled 46142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter -3/-2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3573873235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:57:57 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18067, writes 0 timeouts 0
2025-04-24 15:57:57 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36057/37143
2025-04-24 15:57:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:57 [info] currentZPosition:0.126
2025-04-24 15:57:59 [debug] Stopped at height 0.128 mm
2025-04-24 15:57:59 [debug] Diagnostics for board 50:
2025-04-24 15:57:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:57:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:04 ago, cause: software
2025-04-24 15:57:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:57:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:57:59 [debug] Moves scheduled 46146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3572882780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:57:59 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16621, writes 0 timeouts 0
2025-04-24 15:57:59 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36217/37122
2025-04-24 15:57:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:57:59 [info] currentZPosition:0.128
2025-04-24 15:57:59 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:00 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:00 [debug] Diagnostics for board 50:
2025-04-24 15:58:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:05 ago, cause: software
2025-04-24 15:58:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:00 [debug] Moves scheduled 46152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter 0/4, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3571568652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:58:00 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22099, writes 0 timeouts 0
2025-04-24 15:58:00 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36013/37154
2025-04-24 15:58:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:00 [info] currentZPosition:0.127
2025-04-24 15:58:02 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:02 [debug] Diagnostics for board 50:
2025-04-24 15:58:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:00:07 ago, cause: software
2025-04-24 15:58:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:02 [debug] Moves scheduled 46156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3570563323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:02 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16828, writes 0 timeouts 0
2025-04-24 15:58:02 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36309/37158
2025-04-24 15:58:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9249, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:02 [info] currentZPosition:0.128
2025-04-24 15:58:03 [debug] Stopped at height 0.126 mm
2025-04-24 15:58:03 [debug] Diagnostics for board 50:
2025-04-24 15:58:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:00:08 ago, cause: software
2025-04-24 15:58:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:03 [debug] Moves scheduled 46160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3569473089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:58:03 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18296, writes 0 timeouts 0
2025-04-24 15:58:03 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36044/37124
2025-04-24 15:58:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9349, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:03 [info] currentZPosition:0.126
2025-04-24 15:58:04 [debug] Stopped at height 0.124 mm
2025-04-24 15:58:05 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:05 [debug] Diagnostics for board 50:
2025-04-24 15:58:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:10 ago, cause: software
2025-04-24 15:58:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:05 [debug] Moves scheduled 46166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3568243832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:58:05 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20665, writes 0 timeouts 0
2025-04-24 15:58:05 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36324/37162
2025-04-24 15:58:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9202, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:05 [info] currentZPosition:0.128
2025-04-24 15:58:05 [debug] Stopped at height 0.125 mm
2025-04-24 15:58:07 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:07 [debug] Diagnostics for board 50:
2025-04-24 15:58:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:11 ago, cause: software
2025-04-24 15:58:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:07 [debug] Moves scheduled 46172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3566963362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:58:07 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21454, writes 0 timeouts 0
2025-04-24 15:58:07 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36103/37126
2025-04-24 15:58:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9224, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:07 [info] currentZPosition:0.129
2025-04-24 15:58:07 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:08 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:08 [debug] Diagnostics for board 50:
2025-04-24 15:58:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:13 ago, cause: software
2025-04-24 15:58:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:08 [debug] Moves scheduled 46178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3565684348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:58:08 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21461, writes 0 timeouts 0
2025-04-24 15:58:08 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36345/37165
2025-04-24 15:58:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:08 [info] currentZPosition:0.128
2025-04-24 15:58:10 [debug] Stopped at height 0.130 mm
2025-04-24 15:58:10 [debug] Diagnostics for board 50:
2025-04-24 15:58:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:15 ago, cause: software
2025-04-24 15:58:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:10 [debug] Moves scheduled 46182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3564663740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:58:10 [debug] Driver 0: pos -3523, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17167, writes 0 timeouts 0
2025-04-24 15:58:10 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36003/37163
2025-04-24 15:58:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9104, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:10 [info] currentZPosition:0.130
2025-04-24 15:58:10 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:11 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:11 [debug] Diagnostics for board 50:
2025-04-24 15:58:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:00:16 ago, cause: software
2025-04-24 15:58:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:11 [debug] Moves scheduled 46188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 85, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3563351335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:58:11 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21976, writes 0 timeouts 0
2025-04-24 15:58:11 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36095/37123
2025-04-24 15:58:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:11 [info] currentZPosition:0.127
2025-04-24 15:58:13 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:13 [debug] Diagnostics for board 50:
2025-04-24 15:58:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:00:18 ago, cause: software
2025-04-24 15:58:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:13 [debug] Moves scheduled 46192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3562291885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:58:13 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17786, writes 0 timeouts 0
2025-04-24 15:58:13 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36020/37130
2025-04-24 15:58:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:13 [info] currentZPosition:0.127
2025-04-24 15:58:14 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:14 [debug] Diagnostics for board 50:
2025-04-24 15:58:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:19 ago, cause: software
2025-04-24 15:58:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:14 [debug] Moves scheduled 46196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3561314243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:58:14 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16435, writes 0 timeouts 0
2025-04-24 15:58:14 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36320/37128
2025-04-24 15:58:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 828
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9140, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:14 [info] currentZPosition:0.129
2025-04-24 15:58:14 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:16 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:16 [debug] Diagnostics for board 50:
2025-04-24 15:58:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:21 ago, cause: software
2025-04-24 15:58:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:16 [debug] Moves scheduled 46202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3559989894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:16 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22187, writes 0 timeouts 0
2025-04-24 15:58:16 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36074/37122
2025-04-24 15:58:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:16 [info] currentZPosition:0.128
2025-04-24 15:58:17 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:17 [debug] Diagnostics for board 50:
2025-04-24 15:58:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:22 ago, cause: software
2025-04-24 15:58:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:17 [debug] Moves scheduled 46206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3558970360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:58:17 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17114, writes 0 timeouts 0
2025-04-24 15:58:17 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36305/37122
2025-04-24 15:58:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:17 [info] currentZPosition:0.128
2025-04-24 15:58:19 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:19 [debug] Diagnostics for board 50:
2025-04-24 15:58:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:00:24 ago, cause: software
2025-04-24 15:58:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:19 [debug] Moves scheduled 46210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 91, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3557893574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:58:19 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18076, writes 0 timeouts 0
2025-04-24 15:58:19 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36019/37092
2025-04-24 15:58:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9280, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:19 [info] currentZPosition:0.127
2025-04-24 15:58:20 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:20 [debug] Diagnostics for board 50:
2025-04-24 15:58:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:00:25 ago, cause: software
2025-04-24 15:58:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:20 [debug] Moves scheduled 46214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3556881737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:20 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16971, writes 0 timeouts 0
2025-04-24 15:58:20 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36355/37120
2025-04-24 15:58:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:20 [info] currentZPosition:0.128
2025-04-24 15:58:21 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:21 [debug] Diagnostics for board 50:
2025-04-24 15:58:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:26 ago, cause: software
2025-04-24 15:58:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:21 [debug] Moves scheduled 46218, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3555835139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:21 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17550, writes 0 timeouts 0
2025-04-24 15:58:21 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36007/37131
2025-04-24 15:58:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:21 [info] currentZPosition:0.128
2025-04-24 15:58:23 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:23 [debug] Diagnostics for board 50:
2025-04-24 15:58:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:28 ago, cause: software
2025-04-24 15:58:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:23 [debug] Moves scheduled 46222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3554787106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:58:23 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17596, writes 0 timeouts 0
2025-04-24 15:58:23 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 36338/37160
2025-04-24 15:58:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:23 [info] currentZPosition:0.127
2025-04-24 15:58:23 [debug] Stopped at height 0.126 mm
2025-04-24 15:58:24 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:24 [debug] Diagnostics for board 50:
2025-04-24 15:58:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:29 ago, cause: software
2025-04-24 15:58:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:24 [debug] Moves scheduled 46228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3553508875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:58:24 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21450, writes 0 timeouts 0
2025-04-24 15:58:24 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36031/37149
2025-04-24 15:58:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9242, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:25 [info] currentZPosition:0.128
2025-04-24 15:58:25 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:26 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:26 [debug] Diagnostics for board 50:
2025-04-24 15:58:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:31 ago, cause: software
2025-04-24 15:58:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:26 [debug] Moves scheduled 46234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3552226867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:58:26 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21545, writes 0 timeouts 0
2025-04-24 15:58:26 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36346/37108
2025-04-24 15:58:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:26 [info] currentZPosition:0.127
2025-04-24 15:58:28 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:28 [debug] Diagnostics for board 50:
2025-04-24 15:58:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:32 ago, cause: software
2025-04-24 15:58:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:28 [debug] Moves scheduled 46238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -3/-2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3551170432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:58:28 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17699, writes 0 timeouts 0
2025-04-24 15:58:28 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36027/37140
2025-04-24 15:58:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:28 [info] currentZPosition:0.127
2025-04-24 15:58:29 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:29 [debug] Diagnostics for board 50:
2025-04-24 15:58:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:34 ago, cause: software
2025-04-24 15:58:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:29 [debug] Moves scheduled 46242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3550141992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:58:29 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17273, writes 0 timeouts 0
2025-04-24 15:58:29 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36314/37102
2025-04-24 15:58:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:29 [info] currentZPosition:0.127
2025-04-24 15:58:30 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:30 [debug] Diagnostics for board 50:
2025-04-24 15:58:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:35 ago, cause: software
2025-04-24 15:58:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:30 [debug] Moves scheduled 46246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 77, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3549084773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:58:30 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17736, writes 0 timeouts 0
2025-04-24 15:58:30 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35988/37100
2025-04-24 15:58:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:30 [info] currentZPosition:0.127
2025-04-24 15:58:32 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:32 [debug] Diagnostics for board 50:
2025-04-24 15:58:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:37 ago, cause: software
2025-04-24 15:58:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:32 [debug] Moves scheduled 46250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3548067817 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:32 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17062, writes 0 timeouts 0
2025-04-24 15:58:32 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36327/37111
2025-04-24 15:58:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:32 [info] currentZPosition:0.128
2025-04-24 15:58:33 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:33 [debug] Diagnostics for board 50:
2025-04-24 15:58:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:38 ago, cause: software
2025-04-24 15:58:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:33 [debug] Moves scheduled 46254, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3547038071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:33 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17273, writes 0 timeouts 0
2025-04-24 15:58:33 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36046/37094
2025-04-24 15:58:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9157, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:33 [info] currentZPosition:0.129
2025-04-24 15:58:34 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:35 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:35 [debug] Diagnostics for board 50:
2025-04-24 15:58:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:40 ago, cause: software
2025-04-24 15:58:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:35 [debug] Moves scheduled 46260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3545744807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:58:35 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21715, writes 0 timeouts 0
2025-04-24 15:58:35 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36342/37142
2025-04-24 15:58:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:35 [info] currentZPosition:0.127
2025-04-24 15:58:36 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:36 [debug] Diagnostics for board 50:
2025-04-24 15:58:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:41 ago, cause: software
2025-04-24 15:58:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:36 [debug] Moves scheduled 46264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3544696058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:58:36 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17575, writes 0 timeouts 0
2025-04-24 15:58:36 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36030/37117
2025-04-24 15:58:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:36 [info] currentZPosition:0.128
2025-04-24 15:58:38 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:38 [debug] Diagnostics for board 50:
2025-04-24 15:58:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:42 ago, cause: software
2025-04-24 15:58:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:38 [debug] Moves scheduled 46268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15306
Sync err accum 93, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3543667096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:58:38 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17286, writes 0 timeouts 0
2025-04-24 15:58:38 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36318/37119
2025-04-24 15:58:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:38 [info] currentZPosition:0.128
2025-04-24 15:58:39 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:39 [debug] Diagnostics for board 50:
2025-04-24 15:58:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:00:44 ago, cause: software
2025-04-24 15:58:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:39 [debug] Moves scheduled 46272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3542628674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:58:39 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17415, writes 0 timeouts 0
2025-04-24 15:58:39 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36060/37126
2025-04-24 15:58:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9176, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:39 [info] currentZPosition:0.129
2025-04-24 15:58:40 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:40 [debug] Diagnostics for board 50:
2025-04-24 15:58:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:45 ago, cause: software
2025-04-24 15:58:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:40 [debug] Moves scheduled 46276, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 74, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3541586780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:58:40 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17478, writes 0 timeouts 0
2025-04-24 15:58:40 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36321/37118
2025-04-24 15:58:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:40 [info] currentZPosition:0.128
2025-04-24 15:58:42 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:42 [debug] Diagnostics for board 50:
2025-04-24 15:58:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:47 ago, cause: software
2025-04-24 15:58:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:42 [debug] Moves scheduled 46280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 60, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3540525275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:58:42 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17819, writes 0 timeouts 0
2025-04-24 15:58:42 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36057/37151
2025-04-24 15:58:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:42 [info] currentZPosition:0.128
2025-04-24 15:58:43 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:43 [debug] Diagnostics for board 50:
2025-04-24 15:58:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:48 ago, cause: software
2025-04-24 15:58:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:43 [debug] Moves scheduled 46284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 73, peak jitter 0/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3539507131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:43 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17074, writes 0 timeouts 0
2025-04-24 15:58:43 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36315/37145
2025-04-24 15:58:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:43 [info] currentZPosition:0.128
2025-04-24 15:58:45 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:45 [debug] Diagnostics for board 50:
2025-04-24 15:58:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:49 ago, cause: software
2025-04-24 15:58:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:45 [debug] Moves scheduled 46288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3538462476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:58:45 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17555, writes 0 timeouts 0
2025-04-24 15:58:45 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36026/37145
2025-04-24 15:58:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9227, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:45 [info] currentZPosition:0.129
2025-04-24 15:58:46 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:46 [debug] Diagnostics for board 50:
2025-04-24 15:58:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:51 ago, cause: software
2025-04-24 15:58:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:46 [debug] Moves scheduled 46292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3537417831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:58:46 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17513, writes 0 timeouts 0
2025-04-24 15:58:46 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36379/37116
2025-04-24 15:58:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:46 [info] currentZPosition:0.128
2025-04-24 15:58:47 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:47 [debug] Diagnostics for board 50:
2025-04-24 15:58:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:52 ago, cause: software
2025-04-24 15:58:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:47 [debug] Moves scheduled 46296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3536391684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 15:58:47 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17215, writes 0 timeouts 0
2025-04-24 15:58:47 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36034/37123
2025-04-24 15:58:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9226, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:47 [info] currentZPosition:0.129
2025-04-24 15:58:48 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:49 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:49 [debug] Diagnostics for board 50:
2025-04-24 15:58:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:54 ago, cause: software
2025-04-24 15:58:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:49 [debug] Moves scheduled 46302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3535112133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:58:49 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21482, writes 0 timeouts 0
2025-04-24 15:58:49 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36313/37156
2025-04-24 15:58:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:49 [info] currentZPosition:0.128
2025-04-24 15:58:49 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:51 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:51 [debug] Diagnostics for board 50:
2025-04-24 15:58:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:56 ago, cause: software
2025-04-24 15:58:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:51 [debug] Moves scheduled 46308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3533842071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:58:51 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21321, writes 0 timeouts 0
2025-04-24 15:58:51 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36025/37106
2025-04-24 15:58:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9216, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:51 [info] currentZPosition:0.129
2025-04-24 15:58:51 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:52 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:52 [debug] Diagnostics for board 50:
2025-04-24 15:58:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:00:57 ago, cause: software
2025-04-24 15:58:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:52 [debug] Moves scheduled 46314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3532533280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:58:52 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21946, writes 0 timeouts 0
2025-04-24 15:58:52 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36371/37137
2025-04-24 15:58:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:53 [info] currentZPosition:0.127
2025-04-24 15:58:54 [debug] Stopped at height 0.129 mm
2025-04-24 15:58:54 [debug] Diagnostics for board 50:
2025-04-24 15:58:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:00:59 ago, cause: software
2025-04-24 15:58:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:54 [debug] Moves scheduled 46318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3531510368 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:58:54 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17186, writes 0 timeouts 0
2025-04-24 15:58:54 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36007/37155
2025-04-24 15:58:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9248, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:54 [info] currentZPosition:0.129
2025-04-24 15:58:54 [debug] Stopped at height 0.126 mm
2025-04-24 15:58:55 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:55 [debug] Diagnostics for board 50:
2025-04-24 15:58:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:00 ago, cause: software
2025-04-24 15:58:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:55 [debug] Moves scheduled 46324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3530249299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:58:55 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21182, writes 0 timeouts 0
2025-04-24 15:58:55 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36220/37143
2025-04-24 15:58:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:56 [info] currentZPosition:0.128
2025-04-24 15:58:56 [debug] Stopped at height 0.126 mm
2025-04-24 15:58:57 [debug] Stopped at height 0.127 mm
2025-04-24 15:58:57 [debug] Diagnostics for board 50:
2025-04-24 15:58:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:01:02 ago, cause: software
2025-04-24 15:58:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:57 [debug] Moves scheduled 46330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3528929860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:58:57 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22104, writes 0 timeouts 0
2025-04-24 15:58:57 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 438, adv 35942/37135
2025-04-24 15:58:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:57 [info] currentZPosition:0.127
2025-04-24 15:58:59 [debug] Stopped at height 0.128 mm
2025-04-24 15:58:59 [debug] Diagnostics for board 50:
2025-04-24 15:58:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:58:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:03 ago, cause: software
2025-04-24 15:58:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:58:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:58:59 [debug] Moves scheduled 46334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 72, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3527930489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:58:59 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16776, writes 0 timeouts 0
2025-04-24 15:58:59 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36085/37114
2025-04-24 15:58:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:58:59 [info] currentZPosition:0.128
2025-04-24 15:59:00 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:00 [debug] Diagnostics for board 50:
2025-04-24 15:59:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:05 ago, cause: software
2025-04-24 15:59:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:00 [debug] Moves scheduled 46338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3526892810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:59:00 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17445, writes 0 timeouts 0
2025-04-24 15:59:00 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36042/37150
2025-04-24 15:59:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9249, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:00 [info] currentZPosition:0.129
2025-04-24 15:59:01 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:01 [debug] Diagnostics for board 50:
2025-04-24 15:59:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:06 ago, cause: software
2025-04-24 15:59:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:01 [debug] Moves scheduled 46342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 90, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3525849386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:59:01 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17474, writes 0 timeouts 0
2025-04-24 15:59:01 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36097/37139
2025-04-24 15:59:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:01 [info] currentZPosition:0.128
2025-04-24 15:59:03 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:03 [debug] Diagnostics for board 50:
2025-04-24 15:59:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:08 ago, cause: software
2025-04-24 15:59:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:03 [debug] Moves scheduled 46346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3524797574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:59:03 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17653, writes 0 timeouts 0
2025-04-24 15:59:03 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36008/37113
2025-04-24 15:59:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:03 [info] currentZPosition:0.128
2025-04-24 15:59:04 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:04 [debug] Diagnostics for board 50:
2025-04-24 15:59:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:09 ago, cause: software
2025-04-24 15:59:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:04 [debug] Moves scheduled 46350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3523760919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:59:04 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17407, writes 0 timeouts 0
2025-04-24 15:59:04 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 441, adv 36007/37137
2025-04-24 15:59:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9354, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:04 [info] currentZPosition:0.127
2025-04-24 15:59:06 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:06 [debug] Diagnostics for board 50:
2025-04-24 15:59:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:10 ago, cause: software
2025-04-24 15:59:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:06 [debug] Moves scheduled 46354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3522697343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:59:06 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17838, writes 0 timeouts 0
2025-04-24 15:59:06 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36047/37142
2025-04-24 15:59:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:06 [info] currentZPosition:0.127
2025-04-24 15:59:07 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:07 [debug] Diagnostics for board 50:
2025-04-24 15:59:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:12 ago, cause: software
2025-04-24 15:59:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:07 [debug] Moves scheduled 46358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3521712493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 15:59:07 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16525, writes 0 timeouts 0
2025-04-24 15:59:07 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35923/37172
2025-04-24 15:59:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:07 [info] currentZPosition:0.129
2025-04-24 15:59:07 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:09 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:09 [debug] Diagnostics for board 50:
2025-04-24 15:59:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:14 ago, cause: software
2025-04-24 15:59:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:09 [debug] Moves scheduled 46364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3520412659 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:59:09 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21840, writes 0 timeouts 0
2025-04-24 15:59:09 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36005/37135
2025-04-24 15:59:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:09 [info] currentZPosition:0.128
2025-04-24 15:59:10 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:10 [debug] Diagnostics for board 50:
2025-04-24 15:59:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:15 ago, cause: software
2025-04-24 15:59:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:10 [debug] Moves scheduled 46368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3519386822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:59:10 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17181, writes 0 timeouts 0
2025-04-24 15:59:10 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36101/37135
2025-04-24 15:59:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:10 [info] currentZPosition:0.128
2025-04-24 15:59:11 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:11 [debug] Diagnostics for board 50:
2025-04-24 15:59:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:01:16 ago, cause: software
2025-04-24 15:59:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:11 [debug] Moves scheduled 46372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3518345025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:59:11 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17498, writes 0 timeouts 0
2025-04-24 15:59:11 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35994/37136
2025-04-24 15:59:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9249, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:11 [info] currentZPosition:0.129
2025-04-24 15:59:13 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:13 [debug] Diagnostics for board 50:
2025-04-24 15:59:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:18 ago, cause: software
2025-04-24 15:59:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:13 [debug] Moves scheduled 46376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3517304278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 15:59:13 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17465, writes 0 timeouts 0
2025-04-24 15:59:13 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36131/37159
2025-04-24 15:59:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:13 [info] currentZPosition:0.128
2025-04-24 15:59:14 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:14 [debug] Diagnostics for board 50:
2025-04-24 15:59:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:01:19 ago, cause: software
2025-04-24 15:59:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:14 [debug] Moves scheduled 46380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3516273249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:59:14 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17288, writes 0 timeouts 0
2025-04-24 15:59:14 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36034/37116
2025-04-24 15:59:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:14 [info] currentZPosition:0.129
2025-04-24 15:59:15 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:16 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:16 [debug] Diagnostics for board 50:
2025-04-24 15:59:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:21 ago, cause: software
2025-04-24 15:59:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:16 [debug] Moves scheduled 46386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3514995908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:59:16 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21461, writes 0 timeouts 0
2025-04-24 15:59:16 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36061/37106
2025-04-24 15:59:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:16 [info] currentZPosition:0.128
2025-04-24 15:59:17 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:17 [debug] Diagnostics for board 50:
2025-04-24 15:59:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:01:22 ago, cause: software
2025-04-24 15:59:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:17 [debug] Moves scheduled 46390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3513937942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:59:17 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17761, writes 0 timeouts 0
2025-04-24 15:59:17 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37092
2025-04-24 15:59:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:17 [info] currentZPosition:0.128
2025-04-24 15:59:19 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:19 [debug] Diagnostics for board 50:
2025-04-24 15:59:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:24 ago, cause: software
2025-04-24 15:59:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:19 [debug] Moves scheduled 46394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 106, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3512912428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:59:19 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17179, writes 0 timeouts 0
2025-04-24 15:59:19 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36076/37174
2025-04-24 15:59:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:19 [info] currentZPosition:0.128
2025-04-24 15:59:20 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:20 [debug] Diagnostics for board 50:
2025-04-24 15:59:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:01:25 ago, cause: software
2025-04-24 15:59:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:20 [debug] Moves scheduled 46398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=10135, max=15000
Sync err accum 104, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3511858950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 15:59:20 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17685, writes 0 timeouts 0
2025-04-24 15:59:20 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36042/37085
2025-04-24 15:59:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:20 [info] currentZPosition:0.129
2025-04-24 15:59:21 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:21 [debug] Diagnostics for board 50:
2025-04-24 15:59:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:26 ago, cause: software
2025-04-24 15:59:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:21 [debug] Moves scheduled 46402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3510848557 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:59:21 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16968, writes 0 timeouts 0
2025-04-24 15:59:21 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36061/37144
2025-04-24 15:59:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9212, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:21 [info] currentZPosition:0.129
2025-04-24 15:59:23 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:23 [debug] Diagnostics for board 50:
2025-04-24 15:59:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:28 ago, cause: software
2025-04-24 15:59:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:23 [debug] Moves scheduled 46406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 89, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3509774600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:59:23 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18003, writes 0 timeouts 0
2025-04-24 15:59:23 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36023/37085
2025-04-24 15:59:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:23 [info] currentZPosition:0.128
2025-04-24 15:59:24 [debug] Stopped at height 0.130 mm
2025-04-24 15:59:24 [debug] Diagnostics for board 50:
2025-04-24 15:59:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:29 ago, cause: software
2025-04-24 15:59:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:24 [debug] Moves scheduled 46410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3508776678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 15:59:24 [debug] Driver 0: pos -3536, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16763, writes 0 timeouts 0
2025-04-24 15:59:24 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36109/37124
2025-04-24 15:59:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9221, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:24 [info] currentZPosition:0.130
2025-04-24 15:59:25 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:26 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:26 [debug] Diagnostics for board 50:
2025-04-24 15:59:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:31 ago, cause: software
2025-04-24 15:59:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:26 [debug] Moves scheduled 46416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3507460926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:59:26 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22077, writes 0 timeouts 0
2025-04-24 15:59:26 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36041/37117
2025-04-24 15:59:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:26 [info] currentZPosition:0.129
2025-04-24 15:59:26 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:28 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:28 [debug] Diagnostics for board 50:
2025-04-24 15:59:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:32 ago, cause: software
2025-04-24 15:59:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:28 [debug] Moves scheduled 46422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3506201232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:59:28 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21134, writes 0 timeouts 0
2025-04-24 15:59:28 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36112/37090
2025-04-24 15:59:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:28 [info] currentZPosition:0.128
2025-04-24 15:59:28 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:29 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:29 [debug] Diagnostics for board 50:
2025-04-24 15:59:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:34 ago, cause: software
2025-04-24 15:59:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:29 [debug] Moves scheduled 46428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3504902724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:59:29 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21798, writes 0 timeouts 0
2025-04-24 15:59:29 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 424, adv 36013/37118
2025-04-24 15:59:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:29 [info] currentZPosition:0.128
2025-04-24 15:59:31 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:31 [debug] Diagnostics for board 50:
2025-04-24 15:59:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:01:36 ago, cause: software
2025-04-24 15:59:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:31 [debug] Moves scheduled 46432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3503891806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:59:31 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16958, writes 0 timeouts 0
2025-04-24 15:59:31 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36092/37122
2025-04-24 15:59:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:31 [info] currentZPosition:0.129
2025-04-24 15:59:32 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:32 [debug] Diagnostics for board 50:
2025-04-24 15:59:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:37 ago, cause: software
2025-04-24 15:59:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:32 [debug] Moves scheduled 46436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3502840803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 15:59:32 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17633, writes 0 timeouts 0
2025-04-24 15:59:32 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36040/37101
2025-04-24 15:59:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:32 [info] currentZPosition:0.129
2025-04-24 15:59:33 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:33 [debug] Diagnostics for board 50:
2025-04-24 15:59:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:38 ago, cause: software
2025-04-24 15:59:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:33 [debug] Moves scheduled 46440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3501802835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:59:33 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17415, writes 0 timeouts 0
2025-04-24 15:59:33 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36117/37106
2025-04-24 15:59:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:34 [info] currentZPosition:0.128
2025-04-24 15:59:35 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:35 [debug] Diagnostics for board 50:
2025-04-24 15:59:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:40 ago, cause: software
2025-04-24 15:59:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:35 [debug] Moves scheduled 46444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3500734053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 15:59:35 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17919, writes 0 timeouts 0
2025-04-24 15:59:35 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36031/37138
2025-04-24 15:59:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:35 [info] currentZPosition:0.128
2025-04-24 15:59:36 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:36 [debug] Diagnostics for board 50:
2025-04-24 15:59:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:41 ago, cause: software
2025-04-24 15:59:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:36 [debug] Moves scheduled 46448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3499731114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:59:36 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16834, writes 0 timeouts 0
2025-04-24 15:59:36 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36134/37074
2025-04-24 15:59:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:36 [info] currentZPosition:0.128
2025-04-24 15:59:38 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:38 [debug] Diagnostics for board 50:
2025-04-24 15:59:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:42 ago, cause: software
2025-04-24 15:59:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:38 [debug] Moves scheduled 46452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3498668170 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:59:38 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17835, writes 0 timeouts 0
2025-04-24 15:59:38 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36050/37156
2025-04-24 15:59:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:38 [info] currentZPosition:0.128
2025-04-24 15:59:39 [debug] Stopped at height 0.130 mm
2025-04-24 15:59:39 [debug] Diagnostics for board 50:
2025-04-24 15:59:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:01:44 ago, cause: software
2025-04-24 15:59:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:39 [debug] Moves scheduled 46456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3497682484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:59:39 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16547, writes 0 timeouts 0
2025-04-24 15:59:39 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36111/37170
2025-04-24 15:59:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9212, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:39 [info] currentZPosition:0.130
2025-04-24 15:59:39 [debug] Stopped at height 0.128 mm
2025-04-24 15:59:41 [debug] Stopped at height 0.131 mm
2025-04-24 15:59:41 [debug] Diagnostics for board 50:
2025-04-24 15:59:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:46 ago, cause: software
2025-04-24 15:59:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:41 [debug] Moves scheduled 46462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3496400742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 15:59:41 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21519, writes 0 timeouts 0
2025-04-24 15:59:41 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 36011/37100
2025-04-24 15:59:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9175, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:41 [info] currentZPosition:0.131
2025-04-24 15:59:41 [debug] Stopped at height 0.130 mm
2025-04-24 15:59:42 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:42 [debug] Diagnostics for board 50:
2025-04-24 15:59:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:47 ago, cause: software
2025-04-24 15:59:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:42 [debug] Moves scheduled 46468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3495108336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:59:42 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21698, writes 0 timeouts 0
2025-04-24 15:59:42 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36073/37118
2025-04-24 15:59:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:42 [info] currentZPosition:0.129
2025-04-24 15:59:43 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:43 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:44 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:44 [debug] Diagnostics for board 50:
2025-04-24 15:59:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:49 ago, cause: software
2025-04-24 15:59:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:44 [debug] Moves scheduled 46476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3493567339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:59:44 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25863, writes 0 timeouts 0
2025-04-24 15:59:44 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 424, adv 36054/37114
2025-04-24 15:59:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:44 [info] currentZPosition:0.129
2025-04-24 15:59:45 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:46 [debug] Stopped at height 0.131 mm
2025-04-24 15:59:46 [debug] Diagnostics for board 50:
2025-04-24 15:59:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:51 ago, cause: software
2025-04-24 15:59:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:46 [debug] Moves scheduled 46482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3492344619 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:59:46 [debug] Driver 0: pos -3532, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20532, writes 0 timeouts 0
2025-04-24 15:59:46 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36054/37124
2025-04-24 15:59:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9184, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 831
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:46 [info] currentZPosition:0.131
2025-04-24 15:59:46 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:48 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:48 [debug] Diagnostics for board 50:
2025-04-24 15:59:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:53 ago, cause: software
2025-04-24 15:59:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:48 [debug] Moves scheduled 46488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3491004010 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 15:59:48 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22488, writes 0 timeouts 0
2025-04-24 15:59:48 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36038/37126
2025-04-24 15:59:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:48 [info] currentZPosition:0.129
2025-04-24 15:59:48 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:49 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:49 [debug] Diagnostics for board 50:
2025-04-24 15:59:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:54 ago, cause: software
2025-04-24 15:59:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:49 [debug] Moves scheduled 46494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 94, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3489746625 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 15:59:49 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21094, writes 0 timeouts 0
2025-04-24 15:59:49 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36108/37131
2025-04-24 15:59:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:50 [info] currentZPosition:0.129
2025-04-24 15:59:51 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:51 [debug] Diagnostics for board 50:
2025-04-24 15:59:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:01:56 ago, cause: software
2025-04-24 15:59:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:51 [debug] Moves scheduled 46498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3488695788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:59:51 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17632, writes 0 timeouts 0
2025-04-24 15:59:51 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36100/37126
2025-04-24 15:59:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9249, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:51 [info] currentZPosition:0.129
2025-04-24 15:59:52 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:52 [debug] Diagnostics for board 50:
2025-04-24 15:59:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:57 ago, cause: software
2025-04-24 15:59:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:52 [debug] Moves scheduled 46502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -3/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3487662937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 15:59:52 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17343, writes 0 timeouts 0
2025-04-24 15:59:52 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 342, adv 36277/37135
2025-04-24 15:59:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:52 [info] currentZPosition:0.129
2025-04-24 15:59:54 [debug] Stopped at height 0.130 mm
2025-04-24 15:59:54 [debug] Diagnostics for board 50:
2025-04-24 15:59:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:01:59 ago, cause: software
2025-04-24 15:59:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:54 [debug] Moves scheduled 46506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3486621980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 15:59:54 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17461, writes 0 timeouts 0
2025-04-24 15:59:54 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36035/37128
2025-04-24 15:59:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:54 [info] currentZPosition:0.130
2025-04-24 15:59:55 [debug] Stopped at height 0.130 mm
2025-04-24 15:59:55 [debug] Diagnostics for board 50:
2025-04-24 15:59:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:00 ago, cause: software
2025-04-24 15:59:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:55 [debug] Moves scheduled 46510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3485603565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:59:55 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17113, writes 0 timeouts 0
2025-04-24 15:59:55 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36311/37120
2025-04-24 15:59:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:55 [info] currentZPosition:0.130
2025-04-24 15:59:56 [debug] Stopped at height 0.129 mm
2025-04-24 15:59:56 [debug] Diagnostics for board 50:
2025-04-24 15:59:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:01 ago, cause: software
2025-04-24 15:59:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:56 [debug] Moves scheduled 46514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3484517169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 15:59:56 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18200, writes 0 timeouts 0
2025-04-24 15:59:56 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36030/37096
2025-04-24 15:59:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:57 [info] currentZPosition:0.129
2025-04-24 15:59:57 [debug] Stopped at height 0.127 mm
2025-04-24 15:59:58 [debug] Stopped at height 0.130 mm
2025-04-24 15:59:58 [debug] Diagnostics for board 50:
2025-04-24 15:59:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 15:59:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:02:03 ago, cause: software
2025-04-24 15:59:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 15:59:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 15:59:58 [debug] Moves scheduled 46520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3483267355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 15:59:58 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20966, writes 0 timeouts 0
2025-04-24 15:59:58 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36313/37154
2025-04-24 15:59:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 15:59:58 [info] currentZPosition:0.130
2025-04-24 15:59:59 [debug] Stopped at height 0.127 mm
2025-04-24 16:00:00 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:00 [debug] Diagnostics for board 50:
2025-04-24 16:00:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:05 ago, cause: software
2025-04-24 16:00:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:00 [debug] Moves scheduled 46526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3481958673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:00:00 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21987, writes 0 timeouts 0
2025-04-24 16:00:00 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36085/37118
2025-04-24 16:00:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:00 [info] currentZPosition:0.128
2025-04-24 16:00:01 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:01 [debug] Diagnostics for board 50:
2025-04-24 16:00:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:06 ago, cause: software
2025-04-24 16:00:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:01 [debug] Moves scheduled 46530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3480941788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:00:01 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17026, writes 0 timeouts 0
2025-04-24 16:00:01 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36352/37123
2025-04-24 16:00:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:01 [info] currentZPosition:0.129
2025-04-24 16:00:03 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:03 [debug] Diagnostics for board 50:
2025-04-24 16:00:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:08 ago, cause: software
2025-04-24 16:00:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:03 [debug] Moves scheduled 46534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 65, peak jitter -1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3479892735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:00:03 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17616, writes 0 timeouts 0
2025-04-24 16:00:03 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36031/37157
2025-04-24 16:00:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:03 [info] currentZPosition:0.129
2025-04-24 16:00:04 [debug] Stopped at height 0.131 mm
2025-04-24 16:00:04 [debug] Diagnostics for board 50:
2025-04-24 16:00:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:09 ago, cause: software
2025-04-24 16:00:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:04 [debug] Moves scheduled 46538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3478901100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:00:04 [debug] Driver 0: pos -3528, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16665, writes 0 timeouts 0
2025-04-24 16:00:04 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36316/37117
2025-04-24 16:00:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9137, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 832
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:04 [info] currentZPosition:0.131
2025-04-24 16:00:04 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:06 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:06 [debug] Diagnostics for board 50:
2025-04-24 16:00:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:11 ago, cause: software
2025-04-24 16:00:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:06 [debug] Moves scheduled 46544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=8720, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3477550696 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:00:06 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22630, writes 0 timeouts 0
2025-04-24 16:00:06 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36001/37163
2025-04-24 16:00:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9360, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:06 [info] currentZPosition:0.128
2025-04-24 16:00:06 [debug] Stopped at height 0.127 mm
2025-04-24 16:00:07 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:07 [debug] Diagnostics for board 50:
2025-04-24 16:00:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:12 ago, cause: software
2025-04-24 16:00:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:07 [debug] Moves scheduled 46550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3476283313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:00:07 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21268, writes 0 timeouts 0
2025-04-24 16:00:07 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36310/37160
2025-04-24 16:00:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9362, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:08 [info] currentZPosition:0.128
2025-04-24 16:00:09 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:09 [debug] Diagnostics for board 50:
2025-04-24 16:00:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:14 ago, cause: software
2025-04-24 16:00:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:09 [debug] Moves scheduled 46554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3475243355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:00:09 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17469, writes 0 timeouts 0
2025-04-24 16:00:09 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 336, adv 36053/37172
2025-04-24 16:00:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:09 [info] currentZPosition:0.129
2025-04-24 16:00:10 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:10 [debug] Diagnostics for board 50:
2025-04-24 16:00:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:15 ago, cause: software
2025-04-24 16:00:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:10 [debug] Moves scheduled 46558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3474195218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:00:10 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17564, writes 0 timeouts 0
2025-04-24 16:00:10 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36324/37108
2025-04-24 16:00:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:10 [info] currentZPosition:0.128
2025-04-24 16:00:11 [debug] Stopped at height 0.127 mm
2025-04-24 16:00:12 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:12 [debug] Diagnostics for board 50:
2025-04-24 16:00:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:17 ago, cause: software
2025-04-24 16:00:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:12 [debug] Moves scheduled 46564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15306
Sync err accum 76, peak jitter 0/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3472929567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:00:12 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21257, writes 0 timeouts 0
2025-04-24 16:00:12 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36064/37144
2025-04-24 16:00:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:12 [info] currentZPosition:0.129
2025-04-24 16:00:12 [debug] Stopped at height 0.127 mm
2025-04-24 16:00:14 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:14 [debug] Diagnostics for board 50:
2025-04-24 16:00:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:19 ago, cause: software
2025-04-24 16:00:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:14 [debug] Moves scheduled 46570, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3471645481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:00:14 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21534, writes 0 timeouts 0
2025-04-24 16:00:14 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36338/37119
2025-04-24 16:00:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:14 [info] currentZPosition:0.128
2025-04-24 16:00:15 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:15 [debug] Diagnostics for board 50:
2025-04-24 16:00:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:20 ago, cause: software
2025-04-24 16:00:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:15 [debug] Moves scheduled 46574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3470605774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:00:15 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17448, writes 0 timeouts 0
2025-04-24 16:00:15 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36009/37158
2025-04-24 16:00:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:15 [info] currentZPosition:0.129
2025-04-24 16:00:16 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:16 [debug] Diagnostics for board 50:
2025-04-24 16:00:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:21 ago, cause: software
2025-04-24 16:00:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:16 [debug] Moves scheduled 46578, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3469599794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:00:16 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16884, writes 0 timeouts 0
2025-04-24 16:00:16 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36372/37110
2025-04-24 16:00:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9280, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:16 [info] currentZPosition:0.130
2025-04-24 16:00:18 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:18 [debug] Diagnostics for board 50:
2025-04-24 16:00:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:23 ago, cause: software
2025-04-24 16:00:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:18 [debug] Moves scheduled 46582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3468544831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:00:18 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17700, writes 0 timeouts 0
2025-04-24 16:00:18 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36060/37142
2025-04-24 16:00:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:18 [info] currentZPosition:0.130
2025-04-24 16:00:19 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:19 [debug] Diagnostics for board 50:
2025-04-24 16:00:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:24 ago, cause: software
2025-04-24 16:00:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:19 [debug] Moves scheduled 46586, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3467514472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:00:19 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17290, writes 0 timeouts 0
2025-04-24 16:00:19 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36308/37156
2025-04-24 16:00:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:19 [info] currentZPosition:0.130
2025-04-24 16:00:21 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:21 [debug] Diagnostics for board 50:
2025-04-24 16:00:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:02:25 ago, cause: software
2025-04-24 16:00:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:21 [debug] Moves scheduled 46590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 98, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3466447475 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:00:21 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17919, writes 0 timeouts 0
2025-04-24 16:00:21 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36009/37125
2025-04-24 16:00:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:21 [info] currentZPosition:0.129
2025-04-24 16:00:22 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:22 [debug] Diagnostics for board 50:
2025-04-24 16:00:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:27 ago, cause: software
2025-04-24 16:00:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:22 [debug] Moves scheduled 46594, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3465421092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:00:22 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17202, writes 0 timeouts 0
2025-04-24 16:00:22 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36327/37122
2025-04-24 16:00:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:22 [info] currentZPosition:0.129
2025-04-24 16:00:23 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:23 [debug] Diagnostics for board 50:
2025-04-24 16:00:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:02:28 ago, cause: software
2025-04-24 16:00:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:23 [debug] Moves scheduled 46598, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3464362816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:00:23 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17762, writes 0 timeouts 0
2025-04-24 16:00:23 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36007/37109
2025-04-24 16:00:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:23 [info] currentZPosition:0.129
2025-04-24 16:00:25 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:25 [debug] Diagnostics for board 50:
2025-04-24 16:00:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:30 ago, cause: software
2025-04-24 16:00:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:25 [debug] Moves scheduled 46602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3463338276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:00:25 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17189, writes 0 timeouts 0
2025-04-24 16:00:25 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36342/37104
2025-04-24 16:00:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:25 [info] currentZPosition:0.129
2025-04-24 16:00:26 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:26 [debug] Diagnostics for board 50:
2025-04-24 16:00:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:31 ago, cause: software
2025-04-24 16:00:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:26 [debug] Moves scheduled 46606, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -3/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3462291860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:00:26 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17569, writes 0 timeouts 0
2025-04-24 16:00:26 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36005/37142
2025-04-24 16:00:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:26 [info] currentZPosition:0.130
2025-04-24 16:00:27 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:27 [debug] Diagnostics for board 50:
2025-04-24 16:00:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:32 ago, cause: software
2025-04-24 16:00:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:27 [debug] Moves scheduled 46610, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 79, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3461275570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:00:27 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17041, writes 0 timeouts 0
2025-04-24 16:00:27 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36319/37129
2025-04-24 16:00:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 833
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:28 [info] currentZPosition:0.130
2025-04-24 16:00:29 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:29 [debug] Diagnostics for board 50:
2025-04-24 16:00:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:34 ago, cause: software
2025-04-24 16:00:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:29 [debug] Moves scheduled 46614, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3460196533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:00:29 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18119, writes 0 timeouts 0
2025-04-24 16:00:29 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36043/37112
2025-04-24 16:00:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:29 [info] currentZPosition:0.129
2025-04-24 16:00:30 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:30 [debug] Diagnostics for board 50:
2025-04-24 16:00:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:35 ago, cause: software
2025-04-24 16:00:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:30 [debug] Moves scheduled 46618, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3459154963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:00:30 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17473, writes 0 timeouts 0
2025-04-24 16:00:30 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36354/37085
2025-04-24 16:00:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:30 [info] currentZPosition:0.128
2025-04-24 16:00:32 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:32 [debug] Diagnostics for board 50:
2025-04-24 16:00:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:37 ago, cause: software
2025-04-24 16:00:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:32 [debug] Moves scheduled 46622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3458140892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:00:32 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17024, writes 0 timeouts 0
2025-04-24 16:00:32 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36066/37169
2025-04-24 16:00:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9248, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:32 [info] currentZPosition:0.130
2025-04-24 16:00:32 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:33 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:33 [debug] Diagnostics for board 50:
2025-04-24 16:00:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:02:38 ago, cause: software
2025-04-24 16:00:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:33 [debug] Moves scheduled 46628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3456855077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:00:33 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21570, writes 0 timeouts 0
2025-04-24 16:00:33 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36367/37146
2025-04-24 16:00:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:33 [info] currentZPosition:0.129
2025-04-24 16:00:35 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:35 [debug] Diagnostics for board 50:
2025-04-24 16:00:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:40 ago, cause: software
2025-04-24 16:00:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:35 [debug] Moves scheduled 46632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3455803003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:00:35 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17660, writes 0 timeouts 0
2025-04-24 16:00:35 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36042/37101
2025-04-24 16:00:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:35 [info] currentZPosition:0.130
2025-04-24 16:00:36 [debug] Stopped at height 0.131 mm
2025-04-24 16:00:36 [debug] Diagnostics for board 50:
2025-04-24 16:00:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:41 ago, cause: software
2025-04-24 16:00:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:36 [debug] Moves scheduled 46636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3454800254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:00:36 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16816, writes 0 timeouts 0
2025-04-24 16:00:36 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36301/37111
2025-04-24 16:00:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9238, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:36 [info] currentZPosition:0.131
2025-04-24 16:00:38 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:38 [debug] Diagnostics for board 50:
2025-04-24 16:00:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:42 ago, cause: software
2025-04-24 16:00:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:38 [debug] Moves scheduled 46640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3453708474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:00:38 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18319, writes 0 timeouts 0
2025-04-24 16:00:38 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36067/37169
2025-04-24 16:00:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:38 [info] currentZPosition:0.129
2025-04-24 16:00:38 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:39 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:39 [debug] Diagnostics for board 50:
2025-04-24 16:00:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:02:44 ago, cause: software
2025-04-24 16:00:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:39 [debug] Moves scheduled 46646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3452438782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:00:39 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21304, writes 0 timeouts 0
2025-04-24 16:00:39 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36310/37173
2025-04-24 16:00:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:39 [info] currentZPosition:0.129
2025-04-24 16:00:41 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:41 [debug] Diagnostics for board 50:
2025-04-24 16:00:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:02:46 ago, cause: software
2025-04-24 16:00:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:41 [debug] Moves scheduled 46650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3451355883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:00:41 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18172, writes 0 timeouts 0
2025-04-24 16:00:41 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36089/37121
2025-04-24 16:00:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9392, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:41 [info] currentZPosition:0.128
2025-04-24 16:00:41 [debug] Stopped at height 0.126 mm
2025-04-24 16:00:42 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:42 [debug] Diagnostics for board 50:
2025-04-24 16:00:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:47 ago, cause: software
2025-04-24 16:00:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:42 [debug] Moves scheduled 46656, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3450123847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:00:42 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20687, writes 0 timeouts 0
2025-04-24 16:00:42 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 36296/37118
2025-04-24 16:00:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:42 [info] currentZPosition:0.130
2025-04-24 16:00:43 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:44 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:44 [debug] Diagnostics for board 50:
2025-04-24 16:00:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:49 ago, cause: software
2025-04-24 16:00:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:44 [debug] Moves scheduled 46662, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9146, max=15306
Sync err accum 101, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3448824929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:00:44 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21801, writes 0 timeouts 0
2025-04-24 16:00:44 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36017/37147
2025-04-24 16:00:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:44 [info] currentZPosition:0.130
2025-04-24 16:00:45 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:46 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:46 [debug] Diagnostics for board 50:
2025-04-24 16:00:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:51 ago, cause: software
2025-04-24 16:00:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:46 [debug] Moves scheduled 46668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3447586846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:00:46 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20780, writes 0 timeouts 0
2025-04-24 16:00:46 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36322/37130
2025-04-24 16:00:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:46 [info] currentZPosition:0.130
2025-04-24 16:00:46 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:47 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:47 [debug] Diagnostics for board 50:
2025-04-24 16:00:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:52 ago, cause: software
2025-04-24 16:00:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:47 [debug] Moves scheduled 46674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15306
Sync err accum 106, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3446266031 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:00:47 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22157, writes 0 timeouts 0
2025-04-24 16:00:47 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36086/37128
2025-04-24 16:00:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:48 [info] currentZPosition:0.129
2025-04-24 16:00:49 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:49 [debug] Diagnostics for board 50:
2025-04-24 16:00:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:02:54 ago, cause: software
2025-04-24 16:00:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:49 [debug] Moves scheduled 46678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3445264908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:00:49 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16804, writes 0 timeouts 0
2025-04-24 16:00:49 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 340, adv 36228/37127
2025-04-24 16:00:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:49 [info] currentZPosition:0.130
2025-04-24 16:00:49 [debug] Stopped at height 0.128 mm
2025-04-24 16:00:50 [debug] Stopped at height 0.131 mm
2025-04-24 16:00:50 [debug] Diagnostics for board 50:
2025-04-24 16:00:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:02:55 ago, cause: software
2025-04-24 16:00:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:50 [debug] Moves scheduled 46684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3443985498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:00:50 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21490, writes 0 timeouts 0
2025-04-24 16:00:50 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36052/37166
2025-04-24 16:00:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:51 [info] currentZPosition:0.131
2025-04-24 16:00:51 [debug] Stopped at height 0.129 mm
2025-04-24 16:00:52 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:52 [debug] Diagnostics for board 50:
2025-04-24 16:00:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:02:57 ago, cause: software
2025-04-24 16:00:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:52 [debug] Moves scheduled 46690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3442703175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:00:52 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21495, writes 0 timeouts 0
2025-04-24 16:00:52 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36111/37166
2025-04-24 16:00:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:52 [info] currentZPosition:0.130
2025-04-24 16:00:54 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:54 [debug] Diagnostics for board 50:
2025-04-24 16:00:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:02:59 ago, cause: software
2025-04-24 16:00:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:54 [debug] Moves scheduled 46694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3441647907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:00:54 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17698, writes 0 timeouts 0
2025-04-24 16:00:54 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36019/37083
2025-04-24 16:00:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:54 [info] currentZPosition:0.130
2025-04-24 16:00:55 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:55 [debug] Diagnostics for board 50:
2025-04-24 16:00:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:00 ago, cause: software
2025-04-24 16:00:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:55 [debug] Moves scheduled 46698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 61, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3440623634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:00:55 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17226, writes 0 timeouts 0
2025-04-24 16:00:55 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36087/37126
2025-04-24 16:00:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:55 [info] currentZPosition:0.130
2025-04-24 16:00:56 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:56 [debug] Diagnostics for board 50:
2025-04-24 16:00:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:01 ago, cause: software
2025-04-24 16:00:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:56 [debug] Moves scheduled 46702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3439573972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:00:56 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17576, writes 0 timeouts 0
2025-04-24 16:00:56 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36065/37145
2025-04-24 16:00:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9242, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:56 [info] currentZPosition:0.130
2025-04-24 16:00:58 [debug] Stopped at height 0.131 mm
2025-04-24 16:00:58 [debug] Diagnostics for board 50:
2025-04-24 16:00:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:03 ago, cause: software
2025-04-24 16:00:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:58 [debug] Moves scheduled 46706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3438559011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:00:58 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17035, writes 0 timeouts 0
2025-04-24 16:00:58 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36058/37131
2025-04-24 16:00:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:58 [info] currentZPosition:0.131
2025-04-24 16:00:59 [debug] Stopped at height 0.130 mm
2025-04-24 16:00:59 [debug] Diagnostics for board 50:
2025-04-24 16:00:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:00:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:04 ago, cause: software
2025-04-24 16:00:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:00:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:00:59 [debug] Moves scheduled 46710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 107, peak jitter 1/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3437497570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:00:59 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17833, writes 0 timeouts 0
2025-04-24 16:00:59 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36024/37128
2025-04-24 16:00:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:00:59 [info] currentZPosition:0.130
2025-04-24 16:01:01 [debug] Stopped at height 0.129 mm
2025-04-24 16:01:01 [debug] Diagnostics for board 50:
2025-04-24 16:01:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:05 ago, cause: software
2025-04-24 16:01:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:01 [debug] Moves scheduled 46714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 117, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3436447861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:01:01 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17578, writes 0 timeouts 0
2025-04-24 16:01:01 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36097/37107
2025-04-24 16:01:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:01 [info] currentZPosition:0.129
2025-04-24 16:01:01 [debug] Stopped at height 0.128 mm
2025-04-24 16:01:02 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:02 [debug] Diagnostics for board 50:
2025-04-24 16:01:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:07 ago, cause: software
2025-04-24 16:01:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:02 [debug] Moves scheduled 46720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 125, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3435163046 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:01:02 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21573, writes 0 timeouts 0
2025-04-24 16:01:02 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36037/37118
2025-04-24 16:01:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:02 [info] currentZPosition:0.130
2025-04-24 16:01:03 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:04 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:04 [debug] Diagnostics for board 50:
2025-04-24 16:01:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:09 ago, cause: software
2025-04-24 16:01:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:04 [debug] Moves scheduled 46726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 127, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3433900602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:04 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25251, writes 0 timeouts 0
2025-04-24 16:01:04 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 26, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36108/37145
2025-04-24 16:01:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:05 [info] currentZPosition:0.130
2025-04-24 16:01:06 [debug] Stopped at height 0.129 mm
2025-04-24 16:01:06 [debug] Diagnostics for board 50:
2025-04-24 16:01:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:11 ago, cause: software
2025-04-24 16:01:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:06 [debug] Moves scheduled 46730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3431862971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:06 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 32208, writes 0 timeouts 0
2025-04-24 16:01:06 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 63, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36058/37120
2025-04-24 16:01:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9364, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:07 [info] currentZPosition:0.129
2025-04-24 16:01:08 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:08 [debug] Diagnostics for board 50:
2025-04-24 16:01:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:13 ago, cause: software
2025-04-24 16:01:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:08 [debug] Moves scheduled 46734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3430752525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:01:08 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16584, writes 0 timeouts 0
2025-04-24 16:01:08 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36067/37094
2025-04-24 16:01:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:08 [info] currentZPosition:0.131
2025-04-24 16:01:09 [debug] Stopped at height 0.129 mm
2025-04-24 16:01:10 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:10 [debug] Diagnostics for board 50:
2025-04-24 16:01:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:15 ago, cause: software
2025-04-24 16:01:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:10 [debug] Moves scheduled 46740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3429455064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:01:10 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21808, writes 0 timeouts 0
2025-04-24 16:01:10 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36018/37163
2025-04-24 16:01:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:10 [info] currentZPosition:0.130
2025-04-24 16:01:11 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:11 [debug] Diagnostics for board 50:
2025-04-24 16:01:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:16 ago, cause: software
2025-04-24 16:01:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:11 [debug] Moves scheduled 46744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 59, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3428435060 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:01:11 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17077, writes 0 timeouts 0
2025-04-24 16:01:11 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36102/37113
2025-04-24 16:01:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:11 [info] currentZPosition:0.130
2025-04-24 16:01:13 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:13 [debug] Diagnostics for board 50:
2025-04-24 16:01:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:18 ago, cause: software
2025-04-24 16:01:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:13 [debug] Moves scheduled 46748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3427372636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:01:13 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17830, writes 0 timeouts 0
2025-04-24 16:01:13 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36087/37151
2025-04-24 16:01:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:13 [info] currentZPosition:0.130
2025-04-24 16:01:14 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:14 [debug] Diagnostics for board 50:
2025-04-24 16:01:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:03:19 ago, cause: software
2025-04-24 16:01:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:14 [debug] Moves scheduled 46752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 87, peak jitter 1/4, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3426356518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:01:14 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17080, writes 0 timeouts 0
2025-04-24 16:01:14 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36057/37117
2025-04-24 16:01:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:14 [info] currentZPosition:0.130
2025-04-24 16:01:15 [debug] Stopped at height 0.129 mm
2025-04-24 16:01:15 [debug] Diagnostics for board 50:
2025-04-24 16:01:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:20 ago, cause: software
2025-04-24 16:01:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:15 [debug] Moves scheduled 46756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 100, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3425277706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:15 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18071, writes 0 timeouts 0
2025-04-24 16:01:15 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36039/37108
2025-04-24 16:01:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:16 [info] currentZPosition:0.129
2025-04-24 16:01:17 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:17 [debug] Diagnostics for board 50:
2025-04-24 16:01:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:22 ago, cause: software
2025-04-24 16:01:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:17 [debug] Moves scheduled 46760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3424266428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:01:17 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16958, writes 0 timeouts 0
2025-04-24 16:01:17 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36134/37104
2025-04-24 16:01:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9348, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:17 [info] currentZPosition:0.130
2025-04-24 16:01:18 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:18 [debug] Diagnostics for board 50:
2025-04-24 16:01:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:23 ago, cause: software
2025-04-24 16:01:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:18 [debug] Moves scheduled 46764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 112, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3423237749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:18 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17274, writes 0 timeouts 0
2025-04-24 16:01:18 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36039/37080
2025-04-24 16:01:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9253, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:18 [info] currentZPosition:0.131
2025-04-24 16:01:19 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:20 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:20 [debug] Diagnostics for board 50:
2025-04-24 16:01:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:25 ago, cause: software
2025-04-24 16:01:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:20 [debug] Moves scheduled 46770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 115, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3421974336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:20 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21208, writes 0 timeouts 0
2025-04-24 16:01:20 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36065/37159
2025-04-24 16:01:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:20 [info] currentZPosition:0.131
2025-04-24 16:01:21 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:21 [debug] Diagnostics for board 50:
2025-04-24 16:01:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:26 ago, cause: software
2025-04-24 16:01:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:21 [debug] Moves scheduled 46774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 111, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3420908306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:21 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17875, writes 0 timeouts 0
2025-04-24 16:01:21 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36091/37143
2025-04-24 16:01:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:21 [info] currentZPosition:0.130
2025-04-24 16:01:23 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:23 [debug] Diagnostics for board 50:
2025-04-24 16:01:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:28 ago, cause: software
2025-04-24 16:01:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:23 [debug] Moves scheduled 46778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3419906991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:23 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16804, writes 0 timeouts 0
2025-04-24 16:01:23 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36075/37124
2025-04-24 16:01:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9240, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:23 [info] currentZPosition:0.131
2025-04-24 16:01:24 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:24 [debug] Diagnostics for board 50:
2025-04-24 16:01:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:29 ago, cause: software
2025-04-24 16:01:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:24 [debug] Moves scheduled 46782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 100, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3418829275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 16:01:24 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18068, writes 0 timeouts 0
2025-04-24 16:01:24 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 405, adv 36059/37124
2025-04-24 16:01:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:24 [info] currentZPosition:0.130
2025-04-24 16:01:25 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:25 [debug] Diagnostics for board 50:
2025-04-24 16:01:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:30 ago, cause: software
2025-04-24 16:01:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:25 [debug] Moves scheduled 46786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3417817267 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:25 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 16:01:25 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36112/37103
2025-04-24 16:01:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:25 [info] currentZPosition:0.130
2025-04-24 16:01:27 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:27 [debug] Diagnostics for board 50:
2025-04-24 16:01:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:32 ago, cause: software
2025-04-24 16:01:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:27 [debug] Moves scheduled 46790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3416743226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:27 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18008, writes 0 timeouts 0
2025-04-24 16:01:27 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36044/37121
2025-04-24 16:01:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:27 [info] currentZPosition:0.130
2025-04-24 16:01:28 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:28 [debug] Diagnostics for board 50:
2025-04-24 16:01:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:33 ago, cause: software
2025-04-24 16:01:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:28 [debug] Moves scheduled 46794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 57, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3415729812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:01:28 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17005, writes 0 timeouts 0
2025-04-24 16:01:28 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36053/37091
2025-04-24 16:01:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:28 [info] currentZPosition:0.130
2025-04-24 16:01:30 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:30 [debug] Diagnostics for board 50:
2025-04-24 16:01:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:34 ago, cause: software
2025-04-24 16:01:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:30 [debug] Moves scheduled 46798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3414684599 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:01:30 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17546, writes 0 timeouts 0
2025-04-24 16:01:30 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36082/37137
2025-04-24 16:01:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9244, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:30 [info] currentZPosition:0.131
2025-04-24 16:01:31 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:31 [debug] Diagnostics for board 50:
2025-04-24 16:01:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:36 ago, cause: software
2025-04-24 16:01:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:31 [debug] Moves scheduled 46802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 3413642634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:01:31 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17471, writes 0 timeouts 0
2025-04-24 16:01:31 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36085/37091
2025-04-24 16:01:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:31 [info] currentZPosition:0.130
2025-04-24 16:01:32 [debug] Stopped at height 0.132 mm
2025-04-24 16:01:32 [debug] Diagnostics for board 50:
2025-04-24 16:01:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:03:37 ago, cause: software
2025-04-24 16:01:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:32 [debug] Moves scheduled 46806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3412620711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:01:32 [debug] Driver 0: pos -3538, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17165, writes 0 timeouts 0
2025-04-24 16:01:32 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36027/37156
2025-04-24 16:01:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9252, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:32 [info] currentZPosition:0.132
2025-04-24 16:01:33 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:34 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:34 [debug] Diagnostics for board 50:
2025-04-24 16:01:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:39 ago, cause: software
2025-04-24 16:01:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:34 [debug] Moves scheduled 46812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 116, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3411328523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:34 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21683, writes 0 timeouts 0
2025-04-24 16:01:34 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36136/37153
2025-04-24 16:01:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:34 [info] currentZPosition:0.130
2025-04-24 16:01:35 [debug] Stopped at height 0.128 mm
2025-04-24 16:01:35 [debug] Stopped at height 0.127 mm
2025-04-24 16:01:36 [debug] Stopped at height 0.133 mm
2025-04-24 16:01:36 [debug] Diagnostics for board 50:
2025-04-24 16:01:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:41 ago, cause: software
2025-04-24 16:01:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:36 [debug] Moves scheduled 46820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 123, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3409824023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:36 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25260, writes 0 timeouts 0
2025-04-24 16:01:36 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36025/37103
2025-04-24 16:01:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9146, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:36 [info] currentZPosition:0.133
2025-04-24 16:01:37 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:37 [debug] Stopped at height 0.129 mm
2025-04-24 16:01:38 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:38 [debug] Diagnostics for board 50:
2025-04-24 16:01:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:43 ago, cause: software
2025-04-24 16:01:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:38 [debug] Moves scheduled 46828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 125, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3408291969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:38 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25693, writes 0 timeouts 0
2025-04-24 16:01:38 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36085/37170
2025-04-24 16:01:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:38 [info] currentZPosition:0.131
2025-04-24 16:01:39 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:40 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:40 [debug] Diagnostics for board 50:
2025-04-24 16:01:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:45 ago, cause: software
2025-04-24 16:01:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:40 [debug] Moves scheduled 46834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 124, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3406989970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:40 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21851, writes 0 timeouts 0
2025-04-24 16:01:40 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36016/37156
2025-04-24 16:01:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:40 [info] currentZPosition:0.130
2025-04-24 16:01:41 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:41 [debug] Diagnostics for board 50:
2025-04-24 16:01:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:46 ago, cause: software
2025-04-24 16:01:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:41 [debug] Moves scheduled 46838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 118, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3405971530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:01:41 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17083, writes 0 timeouts 0
2025-04-24 16:01:41 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36053/37113
2025-04-24 16:01:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:41 [info] currentZPosition:0.131
2025-04-24 16:01:43 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:43 [debug] Diagnostics for board 50:
2025-04-24 16:01:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:48 ago, cause: software
2025-04-24 16:01:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:43 [debug] Moves scheduled 46842, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 111, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3404909755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 16:01:43 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17821, writes 0 timeouts 0
2025-04-24 16:01:43 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36030/37111
2025-04-24 16:01:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:43 [info] currentZPosition:0.130
2025-04-24 16:01:44 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:44 [debug] Diagnostics for board 50:
2025-04-24 16:01:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:49 ago, cause: software
2025-04-24 16:01:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:44 [debug] Moves scheduled 46846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3403887908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:01:44 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17160, writes 0 timeouts 0
2025-04-24 16:01:44 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36086/37133
2025-04-24 16:01:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:44 [info] currentZPosition:0.130
2025-04-24 16:01:45 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:45 [debug] Diagnostics for board 50:
2025-04-24 16:01:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:50 ago, cause: software
2025-04-24 16:01:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:45 [debug] Moves scheduled 46850, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 85, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3402835117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:01:45 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17656, writes 0 timeouts 0
2025-04-24 16:01:45 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36017/37124
2025-04-24 16:01:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:45 [info] currentZPosition:0.131
2025-04-24 16:01:47 [debug] Stopped at height 0.132 mm
2025-04-24 16:01:47 [debug] Diagnostics for board 50:
2025-04-24 16:01:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:52 ago, cause: software
2025-04-24 16:01:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:47 [debug] Moves scheduled 46854, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3401832947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:01:47 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16810, writes 0 timeouts 0
2025-04-24 16:01:47 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36236/37117
2025-04-24 16:01:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9200, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:47 [info] currentZPosition:0.132
2025-04-24 16:01:48 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:48 [debug] Diagnostics for board 50:
2025-04-24 16:01:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:53 ago, cause: software
2025-04-24 16:01:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:48 [debug] Moves scheduled 46858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -4/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3400760786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:48 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17999, writes 0 timeouts 0
2025-04-24 16:01:48 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36029/37085
2025-04-24 16:01:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:48 [info] currentZPosition:0.131
2025-04-24 16:01:49 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:49 [debug] Diagnostics for board 50:
2025-04-24 16:01:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:54 ago, cause: software
2025-04-24 16:01:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:49 [debug] Moves scheduled 46862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 2/3, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3399741889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:01:49 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17094, writes 0 timeouts 0
2025-04-24 16:01:49 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36327/37148
2025-04-24 16:01:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:50 [info] currentZPosition:0.131
2025-04-24 16:01:51 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:51 [debug] Diagnostics for board 50:
2025-04-24 16:01:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:03:56 ago, cause: software
2025-04-24 16:01:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:51 [debug] Moves scheduled 46866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 93, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3398681029 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:01:51 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17792, writes 0 timeouts 0
2025-04-24 16:01:51 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36025/37091
2025-04-24 16:01:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:51 [info] currentZPosition:0.131
2025-04-24 16:01:52 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:52 [debug] Diagnostics for board 50:
2025-04-24 16:01:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:03:57 ago, cause: software
2025-04-24 16:01:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:52 [debug] Moves scheduled 46870, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3397653727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:52 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17244, writes 0 timeouts 0
2025-04-24 16:01:52 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36294/37130
2025-04-24 16:01:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:52 [info] currentZPosition:0.131
2025-04-24 16:01:54 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:54 [debug] Diagnostics for board 50:
2025-04-24 16:01:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:03:59 ago, cause: software
2025-04-24 16:01:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:54 [debug] Moves scheduled 46874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 110, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3396585377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:54 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17922, writes 0 timeouts 0
2025-04-24 16:01:54 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36030/37121
2025-04-24 16:01:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:54 [info] currentZPosition:0.130
2025-04-24 16:01:55 [debug] Stopped at height 0.131 mm
2025-04-24 16:01:55 [debug] Diagnostics for board 50:
2025-04-24 16:01:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:00 ago, cause: software
2025-04-24 16:01:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:55 [debug] Moves scheduled 46878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3395582040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:01:55 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16843, writes 0 timeouts 0
2025-04-24 16:01:55 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36333/37095
2025-04-24 16:01:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:55 [info] currentZPosition:0.131
2025-04-24 16:01:56 [debug] Stopped at height 0.130 mm
2025-04-24 16:01:56 [debug] Diagnostics for board 50:
2025-04-24 16:01:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:01 ago, cause: software
2025-04-24 16:01:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:56 [debug] Moves scheduled 46882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 113, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3394492895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:01:56 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18261, writes 0 timeouts 0
2025-04-24 16:01:56 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36045/37148
2025-04-24 16:01:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9372, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:57 [info] currentZPosition:0.130
2025-04-24 16:01:57 [debug] Stopped at height 0.129 mm
2025-04-24 16:01:58 [debug] Stopped at height 0.132 mm
2025-04-24 16:01:58 [debug] Diagnostics for board 50:
2025-04-24 16:01:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:01:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:03 ago, cause: software
2025-04-24 16:01:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:01:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:01:58 [debug] Moves scheduled 46888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9868, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3393266735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:01:58 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20585, writes 0 timeouts 0
2025-04-24 16:01:58 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36338/37134
2025-04-24 16:01:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:01:58 [info] currentZPosition:0.132
2025-04-24 16:01:59 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:00 [debug] Stopped at height 0.129 mm
2025-04-24 16:02:00 [debug] Diagnostics for board 50:
2025-04-24 16:02:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:05 ago, cause: software
2025-04-24 16:02:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:00 [debug] Moves scheduled 46894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3391934760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:02:00 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22367, writes 0 timeouts 0
2025-04-24 16:02:00 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36056/37126
2025-04-24 16:02:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9388, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:00 [info] currentZPosition:0.129
2025-04-24 16:02:01 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:01 [debug] Diagnostics for board 50:
2025-04-24 16:02:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:06 ago, cause: software
2025-04-24 16:02:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:01 [debug] Moves scheduled 46898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3390939547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:02:01 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16674, writes 0 timeouts 0
2025-04-24 16:02:01 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36322/37150
2025-04-24 16:02:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:01 [info] currentZPosition:0.131
2025-04-24 16:02:02 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:03 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:03 [debug] Diagnostics for board 50:
2025-04-24 16:02:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:08 ago, cause: software
2025-04-24 16:02:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:03 [debug] Moves scheduled 46904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3389658997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:02:03 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21506, writes 0 timeouts 0
2025-04-24 16:02:03 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36037/37139
2025-04-24 16:02:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:03 [info] currentZPosition:0.132
2025-04-24 16:02:03 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:05 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:05 [debug] Diagnostics for board 50:
2025-04-24 16:02:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:10 ago, cause: software
2025-04-24 16:02:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:05 [debug] Moves scheduled 46910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3388381285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:02:05 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21451, writes 0 timeouts 0
2025-04-24 16:02:05 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36301/37172
2025-04-24 16:02:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:05 [info] currentZPosition:0.130
2025-04-24 16:02:06 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:06 [debug] Diagnostics for board 50:
2025-04-24 16:02:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:04:11 ago, cause: software
2025-04-24 16:02:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:06 [debug] Moves scheduled 46914, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 74, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3387356666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:02:06 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17186, writes 0 timeouts 0
2025-04-24 16:02:06 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35992/37110
2025-04-24 16:02:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9214, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:06 [info] currentZPosition:0.132
2025-04-24 16:02:06 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:08 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:08 [debug] Diagnostics for board 50:
2025-04-24 16:02:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:04:13 ago, cause: software
2025-04-24 16:02:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:08 [debug] Moves scheduled 46920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3386066003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:02:08 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21639, writes 0 timeouts 0
2025-04-24 16:02:08 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 436, adv 36385/37131
2025-04-24 16:02:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:08 [info] currentZPosition:0.131
2025-04-24 16:02:09 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:09 [debug] Diagnostics for board 50:
2025-04-24 16:02:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:14 ago, cause: software
2025-04-24 16:02:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:09 [debug] Moves scheduled 46924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 101, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3385040827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:02:09 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17225, writes 0 timeouts 0
2025-04-24 16:02:09 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36024/37163
2025-04-24 16:02:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:09 [info] currentZPosition:0.132
2025-04-24 16:02:10 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:11 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:11 [debug] Diagnostics for board 50:
2025-04-24 16:02:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:16 ago, cause: software
2025-04-24 16:02:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:11 [debug] Moves scheduled 46930, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 111, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3383781280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:02:11 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21125, writes 0 timeouts 0
2025-04-24 16:02:11 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36317/37125
2025-04-24 16:02:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:11 [info] currentZPosition:0.132
2025-04-24 16:02:12 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:12 [debug] Diagnostics for board 50:
2025-04-24 16:02:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:17 ago, cause: software
2025-04-24 16:02:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:12 [debug] Moves scheduled 46934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 118, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3382699051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:02:12 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18153, writes 0 timeouts 0
2025-04-24 16:02:12 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36004/37107
2025-04-24 16:02:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:12 [info] currentZPosition:0.130
2025-04-24 16:02:13 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:14 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:14 [debug] Diagnostics for board 50:
2025-04-24 16:02:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:19 ago, cause: software
2025-04-24 16:02:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:14 [debug] Moves scheduled 46940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 121, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3381454580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:02:14 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20881, writes 0 timeouts 0
2025-04-24 16:02:14 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36338/37137
2025-04-24 16:02:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:14 [info] currentZPosition:0.131
2025-04-24 16:02:14 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:16 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:16 [debug] Diagnostics for board 50:
2025-04-24 16:02:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:21 ago, cause: software
2025-04-24 16:02:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:16 [debug] Moves scheduled 46946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 120, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3380138194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:02:16 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22090, writes 0 timeouts 0
2025-04-24 16:02:16 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36053/37112
2025-04-24 16:02:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:16 [info] currentZPosition:0.130
2025-04-24 16:02:17 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:17 [debug] Diagnostics for board 50:
2025-04-24 16:02:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:22 ago, cause: software
2025-04-24 16:02:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:17 [debug] Moves scheduled 46950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 115, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3379117514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:02:17 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 0 timeouts 0
2025-04-24 16:02:17 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36334/37102
2025-04-24 16:02:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:17 [info] currentZPosition:0.130
2025-04-24 16:02:18 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:18 [debug] Diagnostics for board 50:
2025-04-24 16:02:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:23 ago, cause: software
2025-04-24 16:02:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:18 [debug] Moves scheduled 46954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3378074227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:02:18 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17510, writes 0 timeouts 0
2025-04-24 16:02:18 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36055/37118
2025-04-24 16:02:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:18 [info] currentZPosition:0.131
2025-04-24 16:02:20 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:20 [debug] Diagnostics for board 50:
2025-04-24 16:02:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:25 ago, cause: software
2025-04-24 16:02:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:20 [debug] Moves scheduled 46958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3377052709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:02:20 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17144, writes 0 timeouts 0
2025-04-24 16:02:20 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36314/37079
2025-04-24 16:02:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:20 [info] currentZPosition:0.131
2025-04-24 16:02:21 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:21 [debug] Diagnostics for board 50:
2025-04-24 16:02:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:04:26 ago, cause: software
2025-04-24 16:02:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:21 [debug] Moves scheduled 46962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3376006726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:02:21 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17551, writes 0 timeouts 0
2025-04-24 16:02:21 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36031/37127
2025-04-24 16:02:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:21 [info] currentZPosition:0.132
2025-04-24 16:02:22 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:22 [debug] Diagnostics for board 50:
2025-04-24 16:02:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:27 ago, cause: software
2025-04-24 16:02:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:22 [debug] Moves scheduled 46966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -3/-2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3374977895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:02:22 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17272, writes 0 timeouts 0
2025-04-24 16:02:22 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36353/37114
2025-04-24 16:02:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:23 [info] currentZPosition:0.132
2025-04-24 16:02:24 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:24 [debug] Diagnostics for board 50:
2025-04-24 16:02:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:29 ago, cause: software
2025-04-24 16:02:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:24 [debug] Moves scheduled 46970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 66, peak jitter -4/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3373926387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:02:24 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17641, writes 0 timeouts 0
2025-04-24 16:02:24 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36051/37123
2025-04-24 16:02:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:24 [info] currentZPosition:0.132
2025-04-24 16:02:25 [debug] Stopped at height 0.133 mm
2025-04-24 16:02:25 [debug] Diagnostics for board 50:
2025-04-24 16:02:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:04:30 ago, cause: software
2025-04-24 16:02:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:25 [debug] Moves scheduled 46974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3372921025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:02:25 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16863, writes 0 timeouts 0
2025-04-24 16:02:25 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36393/37109
2025-04-24 16:02:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9191, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:25 [info] currentZPosition:0.133
2025-04-24 16:02:27 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:27 [debug] Diagnostics for board 50:
2025-04-24 16:02:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:32 ago, cause: software
2025-04-24 16:02:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:27 [debug] Moves scheduled 46978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3371845648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:02:27 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18044, writes 0 timeouts 0
2025-04-24 16:02:27 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36053/37147
2025-04-24 16:02:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:27 [info] currentZPosition:0.132
2025-04-24 16:02:28 [debug] Stopped at height 0.133 mm
2025-04-24 16:02:28 [debug] Diagnostics for board 50:
2025-04-24 16:02:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:33 ago, cause: software
2025-04-24 16:02:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:28 [debug] Moves scheduled 46982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3370846496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:02:28 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16778, writes 0 timeouts 0
2025-04-24 16:02:28 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36307/37093
2025-04-24 16:02:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9161, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:28 [info] currentZPosition:0.133
2025-04-24 16:02:29 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:29 [debug] Diagnostics for board 50:
2025-04-24 16:02:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:34 ago, cause: software
2025-04-24 16:02:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:29 [debug] Moves scheduled 46986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3369756966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:02:29 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18281, writes 0 timeouts 0
2025-04-24 16:02:29 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36045/37105
2025-04-24 16:02:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:30 [info] currentZPosition:0.132
2025-04-24 16:02:30 [debug] Stopped at height 0.130 mm
2025-04-24 16:02:31 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:31 [debug] Diagnostics for board 50:
2025-04-24 16:02:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:36 ago, cause: software
2025-04-24 16:02:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:31 [debug] Moves scheduled 46992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3368479086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:02:31 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21454, writes 0 timeouts 0
2025-04-24 16:02:31 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36335/37137
2025-04-24 16:02:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:31 [info] currentZPosition:0.132
2025-04-24 16:02:33 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:33 [debug] Diagnostics for board 50:
2025-04-24 16:02:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:37 ago, cause: software
2025-04-24 16:02:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:33 [debug] Moves scheduled 46996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3367418335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:02:33 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17794, writes 0 timeouts 0
2025-04-24 16:02:33 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36053/37133
2025-04-24 16:02:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:33 [info] currentZPosition:0.132
2025-04-24 16:02:34 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:34 [debug] Diagnostics for board 50:
2025-04-24 16:02:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:39 ago, cause: software
2025-04-24 16:02:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:34 [debug] Moves scheduled 47000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3366393155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:02:34 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17212, writes 0 timeouts 0
2025-04-24 16:02:34 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36360/37123
2025-04-24 16:02:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:34 [info] currentZPosition:0.132
2025-04-24 16:02:35 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:35 [debug] Diagnostics for board 50:
2025-04-24 16:02:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:04:40 ago, cause: software
2025-04-24 16:02:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:35 [debug] Moves scheduled 47004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -2/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3365322727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:02:35 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17946, writes 0 timeouts 0
2025-04-24 16:02:35 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36060/37137
2025-04-24 16:02:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:35 [info] currentZPosition:0.131
2025-04-24 16:02:37 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:37 [debug] Diagnostics for board 50:
2025-04-24 16:02:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:04:42 ago, cause: software
2025-04-24 16:02:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:37 [debug] Moves scheduled 47008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8720, max=15000
Sync err accum 69, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3364304190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:02:37 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17089, writes 0 timeouts 0
2025-04-24 16:02:37 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36326/37127
2025-04-24 16:02:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:37 [info] currentZPosition:0.131
2025-04-24 16:02:38 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:38 [debug] Diagnostics for board 50:
2025-04-24 16:02:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:04:43 ago, cause: software
2025-04-24 16:02:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:38 [debug] Moves scheduled 47012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3363250918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:02:38 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17680, writes 0 timeouts 0
2025-04-24 16:02:38 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36053/37134
2025-04-24 16:02:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:38 [info] currentZPosition:0.131
2025-04-24 16:02:39 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:39 [debug] Diagnostics for board 50:
2025-04-24 16:02:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:44 ago, cause: software
2025-04-24 16:02:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:39 [debug] Moves scheduled 47016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3362240079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:02:39 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16955, writes 0 timeouts 0
2025-04-24 16:02:39 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36315/37163
2025-04-24 16:02:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:40 [info] currentZPosition:0.132
2025-04-24 16:02:41 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:41 [debug] Diagnostics for board 50:
2025-04-24 16:02:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:46 ago, cause: software
2025-04-24 16:02:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:41 [debug] Moves scheduled 47020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3361171533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:02:41 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17926, writes 0 timeouts 0
2025-04-24 16:02:41 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36036/37109
2025-04-24 16:02:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:41 [info] currentZPosition:0.131
2025-04-24 16:02:42 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:42 [debug] Diagnostics for board 50:
2025-04-24 16:02:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:47 ago, cause: software
2025-04-24 16:02:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:42 [debug] Moves scheduled 47024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 108, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3360149921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:02:42 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17137, writes 0 timeouts 0
2025-04-24 16:02:42 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36219/37102
2025-04-24 16:02:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:42 [info] currentZPosition:0.131
2025-04-24 16:02:44 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:44 [debug] Diagnostics for board 50:
2025-04-24 16:02:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:49 ago, cause: software
2025-04-24 16:02:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:44 [debug] Moves scheduled 47028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3359091124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:02:44 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17786, writes 0 timeouts 0
2025-04-24 16:02:44 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36056/37155
2025-04-24 16:02:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:44 [info] currentZPosition:0.131
2025-04-24 16:02:45 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:45 [debug] Diagnostics for board 50:
2025-04-24 16:02:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:50 ago, cause: software
2025-04-24 16:02:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:45 [debug] Moves scheduled 47032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 110, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3358089734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:02:45 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16783, writes 0 timeouts 0
2025-04-24 16:02:45 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36078/37117
2025-04-24 16:02:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:45 [info] currentZPosition:0.132
2025-04-24 16:02:46 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:46 [debug] Diagnostics for board 50:
2025-04-24 16:02:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:51 ago, cause: software
2025-04-24 16:02:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:46 [debug] Moves scheduled 47036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 108, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3357024853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:02:46 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17875, writes 0 timeouts 0
2025-04-24 16:02:46 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36077/37127
2025-04-24 16:02:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:47 [info] currentZPosition:0.132
2025-04-24 16:02:48 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:48 [debug] Diagnostics for board 50:
2025-04-24 16:02:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:04:53 ago, cause: software
2025-04-24 16:02:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:48 [debug] Moves scheduled 47040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 101, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3356004562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:02:48 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17113, writes 0 timeouts 0
2025-04-24 16:02:48 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36115/37089
2025-04-24 16:02:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:48 [info] currentZPosition:0.132
2025-04-24 16:02:49 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:49 [debug] Diagnostics for board 50:
2025-04-24 16:02:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:04:54 ago, cause: software
2025-04-24 16:02:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:49 [debug] Moves scheduled 47044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3354944351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:02:49 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17791, writes 0 timeouts 0
2025-04-24 16:02:49 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36014/37099
2025-04-24 16:02:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:49 [info] currentZPosition:0.132
2025-04-24 16:02:51 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:51 [debug] Diagnostics for board 50:
2025-04-24 16:02:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:56 ago, cause: software
2025-04-24 16:02:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:51 [debug] Moves scheduled 47048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3353915885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:02:51 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17265, writes 0 timeouts 0
2025-04-24 16:02:51 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36136/37156
2025-04-24 16:02:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:51 [info] currentZPosition:0.132
2025-04-24 16:02:52 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:52 [debug] Diagnostics for board 50:
2025-04-24 16:02:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:04:57 ago, cause: software
2025-04-24 16:02:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:52 [debug] Moves scheduled 47052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 62, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3352863222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:02:52 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17647, writes 0 timeouts 0
2025-04-24 16:02:52 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36057/37158
2025-04-24 16:02:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:52 [info] currentZPosition:0.132
2025-04-24 16:02:53 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:53 [debug] Diagnostics for board 50:
2025-04-24 16:02:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:04:58 ago, cause: software
2025-04-24 16:02:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:53 [debug] Moves scheduled 47056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3351839117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:02:53 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17195, writes 0 timeouts 0
2025-04-24 16:02:53 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36087/37073
2025-04-24 16:02:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:53 [info] currentZPosition:0.132
2025-04-24 16:02:55 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:55 [debug] Diagnostics for board 50:
2025-04-24 16:02:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:00 ago, cause: software
2025-04-24 16:02:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:55 [debug] Moves scheduled 47060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3350760547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:02:55 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18088, writes 0 timeouts 0
2025-04-24 16:02:55 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36003/37166
2025-04-24 16:02:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9375, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:55 [info] currentZPosition:0.131
2025-04-24 16:02:56 [debug] Stopped at height 0.133 mm
2025-04-24 16:02:56 [debug] Diagnostics for board 50:
2025-04-24 16:02:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:01 ago, cause: software
2025-04-24 16:02:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:56 [debug] Moves scheduled 47064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3349769762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:02:56 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16642, writes 0 timeouts 0
2025-04-24 16:02:56 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36078/37096
2025-04-24 16:02:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:56 [info] currentZPosition:0.133
2025-04-24 16:02:57 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:58 [debug] Stopped at height 0.132 mm
2025-04-24 16:02:58 [debug] Diagnostics for board 50:
2025-04-24 16:02:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:03 ago, cause: software
2025-04-24 16:02:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:58 [debug] Moves scheduled 47070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3348463891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:02:58 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21909, writes 0 timeouts 0
2025-04-24 16:02:58 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36073/37116
2025-04-24 16:02:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:58 [info] currentZPosition:0.132
2025-04-24 16:02:59 [debug] Stopped at height 0.131 mm
2025-04-24 16:02:59 [debug] Diagnostics for board 50:
2025-04-24 16:02:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:02:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:04 ago, cause: software
2025-04-24 16:02:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:02:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:02:59 [debug] Moves scheduled 47074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3347437408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:02:59 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17214, writes 0 timeouts 0
2025-04-24 16:02:59 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36125/37117
2025-04-24 16:02:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:02:59 [info] currentZPosition:0.131
2025-04-24 16:03:01 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:01 [debug] Diagnostics for board 50:
2025-04-24 16:03:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:06 ago, cause: software
2025-04-24 16:03:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:01 [debug] Moves scheduled 47078, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3346408763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:03:01 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17261, writes 0 timeouts 0
2025-04-24 16:03:01 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36028/37116
2025-04-24 16:03:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:01 [info] currentZPosition:0.133
2025-04-24 16:03:01 [debug] Stopped at height 0.131 mm
2025-04-24 16:03:02 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:02 [debug] Diagnostics for board 50:
2025-04-24 16:03:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:07 ago, cause: software
2025-04-24 16:03:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:02 [debug] Moves scheduled 47084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3345131845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:03:02 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21438, writes 0 timeouts 0
2025-04-24 16:03:02 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36138/37095
2025-04-24 16:03:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:02 [info] currentZPosition:0.132
2025-04-24 16:03:04 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:04 [debug] Diagnostics for board 50:
2025-04-24 16:03:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:09 ago, cause: software
2025-04-24 16:03:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:04 [debug] Moves scheduled 47088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3344082983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:03:04 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17599, writes 0 timeouts 0
2025-04-24 16:03:04 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36015/37152
2025-04-24 16:03:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:04 [info] currentZPosition:0.132
2025-04-24 16:03:05 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:05 [debug] Diagnostics for board 50:
2025-04-24 16:03:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:10 ago, cause: software
2025-04-24 16:03:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:05 [debug] Moves scheduled 47092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3343064596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:03:05 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17098, writes 0 timeouts 0
2025-04-24 16:03:05 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36084/37152
2025-04-24 16:03:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:05 [info] currentZPosition:0.133
2025-04-24 16:03:06 [debug] Stopped at height 0.131 mm
2025-04-24 16:03:06 [debug] Diagnostics for board 50:
2025-04-24 16:03:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:11 ago, cause: software
2025-04-24 16:03:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:06 [debug] Moves scheduled 47096, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 66, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3341984205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:03:06 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18134, writes 0 timeouts 0
2025-04-24 16:03:06 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36071/37089
2025-04-24 16:03:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:07 [info] currentZPosition:0.131
2025-04-24 16:03:08 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:08 [debug] Diagnostics for board 50:
2025-04-24 16:03:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:13 ago, cause: software
2025-04-24 16:03:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:08 [debug] Moves scheduled 47100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3340985574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:03:08 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16738, writes 0 timeouts 0
2025-04-24 16:03:08 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36067/37139
2025-04-24 16:03:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:08 [info] currentZPosition:0.133
2025-04-24 16:03:09 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:09 [debug] Diagnostics for board 50:
2025-04-24 16:03:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:05:14 ago, cause: software
2025-04-24 16:03:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:09 [debug] Moves scheduled 47104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15306
Sync err accum 94, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3339927973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:03:09 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17753, writes 0 timeouts 0
2025-04-24 16:03:09 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36002/37117
2025-04-24 16:03:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:09 [info] currentZPosition:0.132
2025-04-24 16:03:11 [debug] Stopped at height 0.130 mm
2025-04-24 16:03:11 [debug] Diagnostics for board 50:
2025-04-24 16:03:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:16 ago, cause: software
2025-04-24 16:03:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:11 [debug] Moves scheduled 47108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3338867263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:03:11 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17844, writes 0 timeouts 0
2025-04-24 16:03:11 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 348, adv 36113/37153
2025-04-24 16:03:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9375, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:11 [info] currentZPosition:0.130
2025-04-24 16:03:11 [debug] Stopped at height 0.129 mm
2025-04-24 16:03:12 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:12 [debug] Diagnostics for board 50:
2025-04-24 16:03:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:17 ago, cause: software
2025-04-24 16:03:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:12 [debug] Moves scheduled 47114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 112, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3337585713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:03:12 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21464, writes 0 timeouts 0
2025-04-24 16:03:12 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36028/37121
2025-04-24 16:03:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:12 [info] currentZPosition:0.132
2025-04-24 16:03:13 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:14 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:14 [debug] Diagnostics for board 50:
2025-04-24 16:03:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:19 ago, cause: software
2025-04-24 16:03:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:14 [debug] Moves scheduled 47120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3336359546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:03:14 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20578, writes 0 timeouts 0
2025-04-24 16:03:14 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36148/37157
2025-04-24 16:03:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9250, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:14 [info] currentZPosition:0.133
2025-04-24 16:03:15 [debug] Stopped at height 0.131 mm
2025-04-24 16:03:15 [debug] Diagnostics for board 50:
2025-04-24 16:03:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:20 ago, cause: software
2025-04-24 16:03:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:15 [debug] Moves scheduled 47124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3335272698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:03:15 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18242, writes 0 timeouts 0
2025-04-24 16:03:15 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36081/37111
2025-04-24 16:03:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:16 [info] currentZPosition:0.131
2025-04-24 16:03:16 [debug] Stopped at height 0.130 mm
2025-04-24 16:03:17 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:17 [debug] Diagnostics for board 50:
2025-04-24 16:03:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:22 ago, cause: software
2025-04-24 16:03:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:17 [debug] Moves scheduled 47130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 101, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3334019891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:03:17 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20994, writes 0 timeouts 0
2025-04-24 16:03:17 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35989/37135
2025-04-24 16:03:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:17 [info] currentZPosition:0.132
2025-04-24 16:03:18 [debug] Stopped at height 0.130 mm
2025-04-24 16:03:19 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:19 [debug] Diagnostics for board 50:
2025-04-24 16:03:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:24 ago, cause: software
2025-04-24 16:03:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:19 [debug] Moves scheduled 47136, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3332721399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:03:19 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21776, writes 0 timeouts 0
2025-04-24 16:03:19 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36052/37122
2025-04-24 16:03:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:19 [info] currentZPosition:0.132
2025-04-24 16:03:19 [debug] Stopped at height 0.130 mm
2025-04-24 16:03:21 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:21 [debug] Diagnostics for board 50:
2025-04-24 16:03:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:25 ago, cause: software
2025-04-24 16:03:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:21 [debug] Moves scheduled 47142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3331469604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:03:21 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21049, writes 0 timeouts 0
2025-04-24 16:03:21 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36150/37114
2025-04-24 16:03:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:21 [info] currentZPosition:0.132
2025-04-24 16:03:21 [debug] Stopped at height 0.131 mm
2025-04-24 16:03:22 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:22 [debug] Diagnostics for board 50:
2025-04-24 16:03:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:27 ago, cause: software
2025-04-24 16:03:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:22 [debug] Moves scheduled 47148, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3330194727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:03:22 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21354, writes 0 timeouts 0
2025-04-24 16:03:22 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36029/37149
2025-04-24 16:03:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:22 [info] currentZPosition:0.133
2025-04-24 16:03:23 [debug] Stopped at height 0.130 mm
2025-04-24 16:03:24 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:24 [debug] Diagnostics for board 50:
2025-04-24 16:03:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:05:29 ago, cause: software
2025-04-24 16:03:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:24 [debug] Moves scheduled 47154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/4, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3328925184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:03:24 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21323, writes 0 timeouts 0
2025-04-24 16:03:24 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36102/37115
2025-04-24 16:03:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:24 [info] currentZPosition:0.132
2025-04-24 16:03:24 [debug] Stopped at height 0.131 mm
2025-04-24 16:03:26 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:26 [debug] Diagnostics for board 50:
2025-04-24 16:03:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:05:31 ago, cause: software
2025-04-24 16:03:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:26 [debug] Moves scheduled 47160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3327627121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:03:26 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21772, writes 0 timeouts 0
2025-04-24 16:03:26 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36012/37118
2025-04-24 16:03:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:26 [info] currentZPosition:0.133
2025-04-24 16:03:27 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:27 [debug] Diagnostics for board 50:
2025-04-24 16:03:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:32 ago, cause: software
2025-04-24 16:03:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:27 [debug] Moves scheduled 47164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3326608182 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:03:27 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17096, writes 0 timeouts 0
2025-04-24 16:03:27 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36090/37121
2025-04-24 16:03:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:27 [info] currentZPosition:0.133
2025-04-24 16:03:28 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:28 [debug] Diagnostics for board 50:
2025-04-24 16:03:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:05:33 ago, cause: software
2025-04-24 16:03:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:28 [debug] Moves scheduled 47168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 85, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3325539259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:03:28 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17951, writes 0 timeouts 0
2025-04-24 16:03:28 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36052/37123
2025-04-24 16:03:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:29 [info] currentZPosition:0.132
2025-04-24 16:03:30 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:30 [debug] Diagnostics for board 50:
2025-04-24 16:03:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:05:35 ago, cause: software
2025-04-24 16:03:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:30 [debug] Moves scheduled 47172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3324517752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:03:30 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17129, writes 0 timeouts 0
2025-04-24 16:03:30 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36102/37172
2025-04-24 16:03:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:30 [info] currentZPosition:0.133
2025-04-24 16:03:31 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:31 [debug] Diagnostics for board 50:
2025-04-24 16:03:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:36 ago, cause: software
2025-04-24 16:03:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:31 [debug] Moves scheduled 47176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 3323464705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:03:31 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17672, writes 0 timeouts 0
2025-04-24 16:03:31 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36046/37090
2025-04-24 16:03:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:31 [info] currentZPosition:0.133
2025-04-24 16:03:33 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:33 [debug] Diagnostics for board 50:
2025-04-24 16:03:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:37 ago, cause: software
2025-04-24 16:03:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:33 [debug] Moves scheduled 47180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3322435790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:03:33 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17254, writes 0 timeouts 0
2025-04-24 16:03:33 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36060/37154
2025-04-24 16:03:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:33 [info] currentZPosition:0.133
2025-04-24 16:03:34 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:34 [debug] Diagnostics for board 50:
2025-04-24 16:03:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:05:39 ago, cause: software
2025-04-24 16:03:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:34 [debug] Moves scheduled 47184, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3321377632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:03:34 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17751, writes 0 timeouts 0
2025-04-24 16:03:34 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36067/37102
2025-04-24 16:03:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:34 [info] currentZPosition:0.132
2025-04-24 16:03:35 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:35 [debug] Diagnostics for board 50:
2025-04-24 16:03:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:05:40 ago, cause: software
2025-04-24 16:03:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:35 [debug] Moves scheduled 47188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3320374537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:03:35 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16827, writes 0 timeouts 0
2025-04-24 16:03:35 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36071/37167
2025-04-24 16:03:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:35 [info] currentZPosition:0.133
2025-04-24 16:03:37 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:37 [debug] Diagnostics for board 50:
2025-04-24 16:03:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:42 ago, cause: software
2025-04-24 16:03:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:37 [debug] Moves scheduled 47192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3319291689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:03:37 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18170, writes 0 timeouts 0
2025-04-24 16:03:37 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36025/37117
2025-04-24 16:03:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:37 [info] currentZPosition:0.132
2025-04-24 16:03:37 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:38 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:38 [debug] Diagnostics for board 50:
2025-04-24 16:03:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:43 ago, cause: software
2025-04-24 16:03:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:38 [debug] Moves scheduled 47198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3318063600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:03:38 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20611, writes 0 timeouts 0
2025-04-24 16:03:38 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36227/37167
2025-04-24 16:03:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:38 [info] currentZPosition:0.133
2025-04-24 16:03:39 [debug] Stopped at height 0.131 mm
2025-04-24 16:03:40 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:40 [debug] Diagnostics for board 50:
2025-04-24 16:03:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:45 ago, cause: software
2025-04-24 16:03:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:40 [debug] Moves scheduled 47204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 90, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3316765792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:03:40 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21791, writes 0 timeouts 0
2025-04-24 16:03:40 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36056/37120
2025-04-24 16:03:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:40 [info] currentZPosition:0.133
2025-04-24 16:03:41 [debug] Stopped at height 0.130 mm
2025-04-24 16:03:42 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:42 [debug] Diagnostics for board 50:
2025-04-24 16:03:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:47 ago, cause: software
2025-04-24 16:03:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:42 [debug] Moves scheduled 47210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3315495912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:03:42 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21287, writes 0 timeouts 0
2025-04-24 16:03:42 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36338/37124
2025-04-24 16:03:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:42 [info] currentZPosition:0.132
2025-04-24 16:03:42 [debug] Stopped at height 0.131 mm
2025-04-24 16:03:43 [debug] Stopped at height 0.134 mm
2025-04-24 16:03:43 [debug] Diagnostics for board 50:
2025-04-24 16:03:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:05:48 ago, cause: software
2025-04-24 16:03:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:43 [debug] Moves scheduled 47216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3314242344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:03:43 [debug] Driver 0: pos -3535, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21051, writes 0 timeouts 0
2025-04-24 16:03:43 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36051/37145
2025-04-24 16:03:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9206, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:44 [info] currentZPosition:0.134
2025-04-24 16:03:44 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:45 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:45 [debug] Diagnostics for board 50:
2025-04-24 16:03:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:50 ago, cause: software
2025-04-24 16:03:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:45 [debug] Moves scheduled 47222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3312951821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:03:45 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21649, writes 0 timeouts 0
2025-04-24 16:03:45 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36317/37166
2025-04-24 16:03:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:45 [info] currentZPosition:0.133
2025-04-24 16:03:47 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:47 [debug] Diagnostics for board 50:
2025-04-24 16:03:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:05:52 ago, cause: software
2025-04-24 16:03:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:47 [debug] Moves scheduled 47226, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 63, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 3311896799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:03:47 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17714, writes 0 timeouts 0
2025-04-24 16:03:47 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36048/37147
2025-04-24 16:03:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:47 [info] currentZPosition:0.133
2025-04-24 16:03:48 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:48 [debug] Diagnostics for board 50:
2025-04-24 16:03:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:53 ago, cause: software
2025-04-24 16:03:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:48 [debug] Moves scheduled 47230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3310874002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:03:48 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17160, writes 0 timeouts 0
2025-04-24 16:03:48 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36308/37150
2025-04-24 16:03:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:48 [info] currentZPosition:0.133
2025-04-24 16:03:49 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:49 [debug] Diagnostics for board 50:
2025-04-24 16:03:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:05:54 ago, cause: software
2025-04-24 16:03:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:49 [debug] Moves scheduled 47234, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 78, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3309820492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:03:49 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17673, writes 0 timeouts 0
2025-04-24 16:03:49 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36025/37168
2025-04-24 16:03:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:49 [info] currentZPosition:0.133
2025-04-24 16:03:51 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:51 [debug] Diagnostics for board 50:
2025-04-24 16:03:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:05:56 ago, cause: software
2025-04-24 16:03:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:51 [debug] Moves scheduled 47238, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3308793382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:03:51 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17224, writes 0 timeouts 0
2025-04-24 16:03:51 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36319/37098
2025-04-24 16:03:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:51 [info] currentZPosition:0.133
2025-04-24 16:03:52 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:52 [debug] Diagnostics for board 50:
2025-04-24 16:03:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:05:57 ago, cause: software
2025-04-24 16:03:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:52 [debug] Moves scheduled 47242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3307714146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:03:52 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18110, writes 0 timeouts 0
2025-04-24 16:03:52 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36027/37124
2025-04-24 16:03:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:52 [info] currentZPosition:0.132
2025-04-24 16:03:54 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:54 [debug] Diagnostics for board 50:
2025-04-24 16:03:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:05:58 ago, cause: software
2025-04-24 16:03:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:54 [debug] Moves scheduled 47246, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3306702281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:03:54 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16986, writes 0 timeouts 0
2025-04-24 16:03:54 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36329/37128
2025-04-24 16:03:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:54 [info] currentZPosition:0.133
2025-04-24 16:03:55 [debug] Stopped at height 0.135 mm
2025-04-24 16:03:55 [debug] Diagnostics for board 50:
2025-04-24 16:03:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:06:00 ago, cause: software
2025-04-24 16:03:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:55 [debug] Moves scheduled 47250, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3305668174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:03:55 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17330, writes 0 timeouts 0
2025-04-24 16:03:55 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36036/37110
2025-04-24 16:03:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9187, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:55 [info] currentZPosition:0.135
2025-04-24 16:03:55 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:57 [debug] Stopped at height 0.133 mm
2025-04-24 16:03:57 [debug] Diagnostics for board 50:
2025-04-24 16:03:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:06:02 ago, cause: software
2025-04-24 16:03:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:57 [debug] Moves scheduled 47256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3304384404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:03:57 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21565, writes 0 timeouts 0
2025-04-24 16:03:57 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36345/37126
2025-04-24 16:03:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:57 [info] currentZPosition:0.133
2025-04-24 16:03:58 [debug] Stopped at height 0.134 mm
2025-04-24 16:03:58 [debug] Diagnostics for board 50:
2025-04-24 16:03:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:03 ago, cause: software
2025-04-24 16:03:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:58 [debug] Moves scheduled 47260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3303342869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:03:58 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17512, writes 0 timeouts 0
2025-04-24 16:03:58 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36035/37123
2025-04-24 16:03:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9207, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:03:58 [info] currentZPosition:0.134
2025-04-24 16:03:59 [debug] Stopped at height 0.132 mm
2025-04-24 16:03:59 [debug] Diagnostics for board 50:
2025-04-24 16:03:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:03:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:04 ago, cause: software
2025-04-24 16:03:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:03:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:03:59 [debug] Moves scheduled 47264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -3/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3302289990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:03:59 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17634, writes 0 timeouts 0
2025-04-24 16:03:59 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36373/37106
2025-04-24 16:03:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:00 [info] currentZPosition:0.132
2025-04-24 16:04:00 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:01 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:01 [debug] Diagnostics for board 50:
2025-04-24 16:04:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:06 ago, cause: software
2025-04-24 16:04:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:01 [debug] Moves scheduled 47270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3300986309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:04:01 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21854, writes 0 timeouts 0
2025-04-24 16:04:01 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36009/37142
2025-04-24 16:04:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:01 [info] currentZPosition:0.132
2025-04-24 16:04:03 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:03 [debug] Diagnostics for board 50:
2025-04-24 16:04:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:07 ago, cause: software
2025-04-24 16:04:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:03 [debug] Moves scheduled 47274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3299976947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:04:03 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16965, writes 0 timeouts 0
2025-04-24 16:04:03 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36375/37116
2025-04-24 16:04:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:03 [info] currentZPosition:0.133
2025-04-24 16:04:04 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:04 [debug] Diagnostics for board 50:
2025-04-24 16:04:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:09 ago, cause: software
2025-04-24 16:04:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:04 [debug] Moves scheduled 47278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3298952489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:04:04 [debug] Driver 0: pos -3534, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17181, writes 0 timeouts 0
2025-04-24 16:04:04 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36046/37144
2025-04-24 16:04:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9216, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:04 [info] currentZPosition:0.134
2025-04-24 16:04:04 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:06 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:06 [debug] Diagnostics for board 50:
2025-04-24 16:04:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:11 ago, cause: software
2025-04-24 16:04:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:06 [debug] Moves scheduled 47284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 88, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3297660540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:04:06 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21670, writes 0 timeouts 0
2025-04-24 16:04:06 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36337/37157
2025-04-24 16:04:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:06 [info] currentZPosition:0.133
2025-04-24 16:04:07 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:07 [debug] Diagnostics for board 50:
2025-04-24 16:04:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:12 ago, cause: software
2025-04-24 16:04:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:07 [debug] Moves scheduled 47288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3296609119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:04:07 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17674, writes 0 timeouts 0
2025-04-24 16:04:07 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36019/37122
2025-04-24 16:04:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:07 [info] currentZPosition:0.133
2025-04-24 16:04:08 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:08 [debug] Diagnostics for board 50:
2025-04-24 16:04:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:13 ago, cause: software
2025-04-24 16:04:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:08 [debug] Moves scheduled 47292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3295603414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:04:08 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16846, writes 0 timeouts 0
2025-04-24 16:04:08 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 414, adv 36332/37113
2025-04-24 16:04:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:08 [info] currentZPosition:0.134
2025-04-24 16:04:10 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:10 [debug] Diagnostics for board 50:
2025-04-24 16:04:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:15 ago, cause: software
2025-04-24 16:04:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:10 [debug] Moves scheduled 47296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3294538217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:04:10 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17876, writes 0 timeouts 0
2025-04-24 16:04:10 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36081/37112
2025-04-24 16:04:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:10 [info] currentZPosition:0.133
2025-04-24 16:04:11 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:11 [debug] Diagnostics for board 50:
2025-04-24 16:04:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:16 ago, cause: software
2025-04-24 16:04:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:11 [debug] Moves scheduled 47300, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3293524464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:04:11 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17030, writes 0 timeouts 0
2025-04-24 16:04:11 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36350/37125
2025-04-24 16:04:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:11 [info] currentZPosition:0.134
2025-04-24 16:04:13 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:13 [debug] Diagnostics for board 50:
2025-04-24 16:04:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:17 ago, cause: software
2025-04-24 16:04:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:13 [debug] Moves scheduled 47304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3292449183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:04:13 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18026, writes 0 timeouts 0
2025-04-24 16:04:13 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36012/37132
2025-04-24 16:04:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:13 [info] currentZPosition:0.133
2025-04-24 16:04:14 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:14 [debug] Diagnostics for board 50:
2025-04-24 16:04:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:19 ago, cause: software
2025-04-24 16:04:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:14 [debug] Moves scheduled 47308, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3291418209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:04:14 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17295, writes 0 timeouts 0
2025-04-24 16:04:14 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36327/37105
2025-04-24 16:04:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:14 [info] currentZPosition:0.132
2025-04-24 16:04:15 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:15 [debug] Diagnostics for board 50:
2025-04-24 16:04:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:20 ago, cause: software
2025-04-24 16:04:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:15 [debug] Moves scheduled 47312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3290382902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:04:15 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17386, writes 0 timeouts 0
2025-04-24 16:04:15 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36006/37164
2025-04-24 16:04:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:15 [info] currentZPosition:0.133
2025-04-24 16:04:17 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:17 [debug] Diagnostics for board 50:
2025-04-24 16:04:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:06:22 ago, cause: software
2025-04-24 16:04:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:17 [debug] Moves scheduled 47316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3289324392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:04:17 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17744, writes 0 timeouts 0
2025-04-24 16:04:17 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36358/37093
2025-04-24 16:04:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:17 [info] currentZPosition:0.132
2025-04-24 16:04:17 [debug] Stopped at height 0.131 mm
2025-04-24 16:04:18 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:18 [debug] Diagnostics for board 50:
2025-04-24 16:04:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:06:23 ago, cause: software
2025-04-24 16:04:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:18 [debug] Moves scheduled 47322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3288055542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:04:18 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21286, writes 0 timeouts 0
2025-04-24 16:04:18 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36066/37125
2025-04-24 16:04:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:19 [info] currentZPosition:0.133
2025-04-24 16:04:19 [debug] Stopped at height 0.131 mm
2025-04-24 16:04:20 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:20 [debug] Diagnostics for board 50:
2025-04-24 16:04:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:25 ago, cause: software
2025-04-24 16:04:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:20 [debug] Moves scheduled 47328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3286797999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:04:20 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21127, writes 0 timeouts 0
2025-04-24 16:04:20 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36338/37127
2025-04-24 16:04:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:20 [info] currentZPosition:0.133
2025-04-24 16:04:21 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:22 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:22 [debug] Diagnostics for board 50:
2025-04-24 16:04:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:27 ago, cause: software
2025-04-24 16:04:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:22 [debug] Moves scheduled 47334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3285501364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:04:22 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21742, writes 0 timeouts 0
2025-04-24 16:04:22 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36077/37166
2025-04-24 16:04:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:22 [info] currentZPosition:0.133
2025-04-24 16:04:23 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:23 [debug] Diagnostics for board 50:
2025-04-24 16:04:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:28 ago, cause: software
2025-04-24 16:04:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:23 [debug] Moves scheduled 47338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3284482928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:04:23 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17088, writes 0 timeouts 0
2025-04-24 16:04:23 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36315/37142
2025-04-24 16:04:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:23 [info] currentZPosition:0.133
2025-04-24 16:04:25 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:25 [debug] Diagnostics for board 50:
2025-04-24 16:04:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:30 ago, cause: software
2025-04-24 16:04:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:25 [debug] Moves scheduled 47342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3283402790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:04:25 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18118, writes 0 timeouts 0
2025-04-24 16:04:25 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36026/37113
2025-04-24 16:04:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9393, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:25 [info] currentZPosition:0.132
2025-04-24 16:04:25 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:26 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:26 [debug] Diagnostics for board 50:
2025-04-24 16:04:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:06:31 ago, cause: software
2025-04-24 16:04:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:26 [debug] Moves scheduled 47348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3282180919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:04:26 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20518, writes 0 timeouts 0
2025-04-24 16:04:26 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36324/37109
2025-04-24 16:04:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:26 [info] currentZPosition:0.134
2025-04-24 16:04:28 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:28 [debug] Diagnostics for board 50:
2025-04-24 16:04:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:33 ago, cause: software
2025-04-24 16:04:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:28 [debug] Moves scheduled 47352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3281121344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:04:28 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17765, writes 0 timeouts 0
2025-04-24 16:04:28 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36014/37160
2025-04-24 16:04:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:28 [info] currentZPosition:0.133
2025-04-24 16:04:29 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:29 [debug] Diagnostics for board 50:
2025-04-24 16:04:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:34 ago, cause: software
2025-04-24 16:04:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:29 [debug] Moves scheduled 47356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3280087682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:04:29 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17345, writes 0 timeouts 0
2025-04-24 16:04:29 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36397/37115
2025-04-24 16:04:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:29 [info] currentZPosition:0.133
2025-04-24 16:04:30 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:30 [debug] Diagnostics for board 50:
2025-04-24 16:04:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:35 ago, cause: software
2025-04-24 16:04:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:30 [debug] Moves scheduled 47360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3279025300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:04:30 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17818, writes 0 timeouts 0
2025-04-24 16:04:30 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36004/37139
2025-04-24 16:04:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:31 [info] currentZPosition:0.133
2025-04-24 16:04:32 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:32 [debug] Diagnostics for board 50:
2025-04-24 16:04:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:37 ago, cause: software
2025-04-24 16:04:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:32 [debug] Moves scheduled 47364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 168, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3277983275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:04:32 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17494, writes 0 timeouts 0
2025-04-24 16:04:32 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36296/37138
2025-04-24 16:04:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9360, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:32 [info] currentZPosition:0.132
2025-04-24 16:04:33 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:33 [debug] Diagnostics for board 50:
2025-04-24 16:04:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:38 ago, cause: software
2025-04-24 16:04:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:33 [debug] Moves scheduled 47368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 67, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3276945729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:04:33 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17564, writes 0 timeouts 0
2025-04-24 16:04:33 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36052/37173
2025-04-24 16:04:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:33 [info] currentZPosition:0.133
2025-04-24 16:04:35 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:35 [debug] Diagnostics for board 50:
2025-04-24 16:04:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:40 ago, cause: software
2025-04-24 16:04:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:35 [debug] Moves scheduled 47372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3275903016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:04:35 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17341, writes 0 timeouts 0
2025-04-24 16:04:35 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36186/37102
2025-04-24 16:04:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:35 [info] currentZPosition:0.134
2025-04-24 16:04:36 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:36 [debug] Diagnostics for board 50:
2025-04-24 16:04:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:41 ago, cause: software
2025-04-24 16:04:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:36 [debug] Moves scheduled 47376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3274857984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:04:36 [debug] Driver 0: pos -3539, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17542, writes 0 timeouts 0
2025-04-24 16:04:36 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36073/37168
2025-04-24 16:04:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:36 [info] currentZPosition:0.134
2025-04-24 16:04:37 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:37 [debug] Diagnostics for board 50:
2025-04-24 16:04:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:42 ago, cause: software
2025-04-24 16:04:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:37 [debug] Moves scheduled 47380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3273805983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:04:37 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17659, writes 0 timeouts 0
2025-04-24 16:04:37 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36112/37156
2025-04-24 16:04:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:38 [info] currentZPosition:0.133
2025-04-24 16:04:38 [debug] Stopped at height 0.132 mm
2025-04-24 16:04:39 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:39 [debug] Diagnostics for board 50:
2025-04-24 16:04:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:44 ago, cause: software
2025-04-24 16:04:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:39 [debug] Moves scheduled 47386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3272500771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:04:39 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21896, writes 0 timeouts 0
2025-04-24 16:04:39 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36055/37138
2025-04-24 16:04:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:39 [info] currentZPosition:0.133
2025-04-24 16:04:40 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:40 [debug] Diagnostics for board 50:
2025-04-24 16:04:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:45 ago, cause: software
2025-04-24 16:04:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:40 [debug] Moves scheduled 47390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3271487637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:04:40 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 16:04:40 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36145/37134
2025-04-24 16:04:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:41 [info] currentZPosition:0.133
2025-04-24 16:04:42 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:42 [debug] Diagnostics for board 50:
2025-04-24 16:04:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:06:47 ago, cause: software
2025-04-24 16:04:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:42 [debug] Moves scheduled 47394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3270444427 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:04:42 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17504, writes 0 timeouts 0
2025-04-24 16:04:42 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36042/37080
2025-04-24 16:04:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:42 [info] currentZPosition:0.134
2025-04-24 16:04:43 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:43 [debug] Diagnostics for board 50:
2025-04-24 16:04:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:48 ago, cause: software
2025-04-24 16:04:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:43 [debug] Moves scheduled 47398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3269406024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:04:43 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17422, writes 0 timeouts 0
2025-04-24 16:04:43 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36084/37118
2025-04-24 16:04:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:43 [info] currentZPosition:0.133
2025-04-24 16:04:45 [debug] Stopped at height 0.135 mm
2025-04-24 16:04:45 [debug] Diagnostics for board 50:
2025-04-24 16:04:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:50 ago, cause: software
2025-04-24 16:04:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:45 [debug] Moves scheduled 47402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3268387420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:04:45 [debug] Driver 0: pos -3533, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17103, writes 0 timeouts 0
2025-04-24 16:04:45 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36025/37124
2025-04-24 16:04:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9186, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:45 [info] currentZPosition:0.135
2025-04-24 16:04:45 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:46 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:46 [debug] Diagnostics for board 50:
2025-04-24 16:04:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:51 ago, cause: software
2025-04-24 16:04:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:46 [debug] Moves scheduled 47408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3267097114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:04:46 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21641, writes 0 timeouts 0
2025-04-24 16:04:46 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36059/37126
2025-04-24 16:04:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9357, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:46 [info] currentZPosition:0.133
2025-04-24 16:04:48 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:48 [debug] Diagnostics for board 50:
2025-04-24 16:04:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:53 ago, cause: software
2025-04-24 16:04:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:48 [debug] Moves scheduled 47412, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3266050439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:04:48 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17574, writes 0 timeouts 0
2025-04-24 16:04:48 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36045/37146
2025-04-24 16:04:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:48 [info] currentZPosition:0.134
2025-04-24 16:04:49 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:49 [debug] Diagnostics for board 50:
2025-04-24 16:04:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:54 ago, cause: software
2025-04-24 16:04:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:49 [debug] Moves scheduled 47416, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3265034265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:04:49 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17048, writes 0 timeouts 0
2025-04-24 16:04:49 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36077/37120
2025-04-24 16:04:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:49 [info] currentZPosition:0.134
2025-04-24 16:04:51 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:51 [debug] Diagnostics for board 50:
2025-04-24 16:04:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:55 ago, cause: software
2025-04-24 16:04:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:51 [debug] Moves scheduled 47420, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3263977621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:04:51 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17724, writes 0 timeouts 0
2025-04-24 16:04:51 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36018/37107
2025-04-24 16:04:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:51 [info] currentZPosition:0.134
2025-04-24 16:04:52 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:52 [debug] Diagnostics for board 50:
2025-04-24 16:04:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:06:57 ago, cause: software
2025-04-24 16:04:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:52 [debug] Moves scheduled 47424, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3262947192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:04:52 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17298, writes 0 timeouts 0
2025-04-24 16:04:52 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36094/37118
2025-04-24 16:04:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:52 [info] currentZPosition:0.134
2025-04-24 16:04:53 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:53 [debug] Diagnostics for board 50:
2025-04-24 16:04:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:06:58 ago, cause: software
2025-04-24 16:04:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:53 [debug] Moves scheduled 47428, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3261888248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:04:53 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17753, writes 0 timeouts 0
2025-04-24 16:04:53 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37146
2025-04-24 16:04:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:53 [info] currentZPosition:0.134
2025-04-24 16:04:55 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:55 [debug] Diagnostics for board 50:
2025-04-24 16:04:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:00 ago, cause: software
2025-04-24 16:04:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:55 [debug] Moves scheduled 47432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3260867101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:04:55 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17139, writes 0 timeouts 0
2025-04-24 16:04:55 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36160/37094
2025-04-24 16:04:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:55 [info] currentZPosition:0.134
2025-04-24 16:04:56 [debug] Stopped at height 0.134 mm
2025-04-24 16:04:56 [debug] Diagnostics for board 50:
2025-04-24 16:04:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:07:01 ago, cause: software
2025-04-24 16:04:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:56 [debug] Moves scheduled 47436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 66, peak jitter -3/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3259810860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:04:56 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17719, writes 0 timeouts 0
2025-04-24 16:04:56 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36006/37127
2025-04-24 16:04:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:56 [info] currentZPosition:0.134
2025-04-24 16:04:57 [debug] Stopped at height 0.133 mm
2025-04-24 16:04:57 [debug] Diagnostics for board 50:
2025-04-24 16:04:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:02 ago, cause: software
2025-04-24 16:04:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:57 [debug] Moves scheduled 47440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 85, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3258765203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:04:57 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17541, writes 0 timeouts 0
2025-04-24 16:04:57 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36110/37161
2025-04-24 16:04:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9371, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:58 [info] currentZPosition:0.133
2025-04-24 16:04:58 [debug] Stopped at height 0.131 mm
2025-04-24 16:04:59 [debug] Stopped at height 0.135 mm
2025-04-24 16:04:59 [debug] Diagnostics for board 50:
2025-04-24 16:04:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:04:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:04 ago, cause: software
2025-04-24 16:04:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:04:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:04:59 [debug] Moves scheduled 47446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3257500891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:04:59 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21221, writes 0 timeouts 0
2025-04-24 16:04:59 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36027/37150
2025-04-24 16:04:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9230, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:04:59 [info] currentZPosition:0.135
2025-04-24 16:05:00 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:01 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:01 [debug] Diagnostics for board 50:
2025-04-24 16:05:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:06 ago, cause: software
2025-04-24 16:05:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:01 [debug] Moves scheduled 47452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 115, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3256229870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:01 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21328, writes 0 timeouts 0
2025-04-24 16:05:01 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36064/37115
2025-04-24 16:05:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:01 [info] currentZPosition:0.134
2025-04-24 16:05:02 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:02 [debug] Diagnostics for board 50:
2025-04-24 16:05:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:07 ago, cause: software
2025-04-24 16:05:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:02 [debug] Moves scheduled 47456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 123, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3255177810 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:05:02 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17656, writes 0 timeouts 0
2025-04-24 16:05:02 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36016/37103
2025-04-24 16:05:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:02 [info] currentZPosition:0.134
2025-04-24 16:05:04 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:04 [debug] Diagnostics for board 50:
2025-04-24 16:05:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:09 ago, cause: software
2025-04-24 16:05:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:04 [debug] Moves scheduled 47460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 126, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3254125382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:05:04 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17648, writes 0 timeouts 0
2025-04-24 16:05:04 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36109/37124
2025-04-24 16:05:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:04 [info] currentZPosition:0.133
2025-04-24 16:05:04 [debug] Stopped at height 0.132 mm
2025-04-24 16:05:05 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:05 [debug] Diagnostics for board 50:
2025-04-24 16:05:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:10 ago, cause: software
2025-04-24 16:05:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:05 [debug] Moves scheduled 47466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 117, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3252841761 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:05:05 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21558, writes 0 timeouts 0
2025-04-24 16:05:05 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36049/37096
2025-04-24 16:05:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:05 [info] currentZPosition:0.133
2025-04-24 16:05:07 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:07 [debug] Diagnostics for board 50:
2025-04-24 16:05:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:12 ago, cause: software
2025-04-24 16:05:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:07 [debug] Moves scheduled 47470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 108, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3251824733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 16:05:07 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17052, writes 0 timeouts 0
2025-04-24 16:05:07 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36064/37132
2025-04-24 16:05:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:07 [info] currentZPosition:0.134
2025-04-24 16:05:08 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:08 [debug] Diagnostics for board 50:
2025-04-24 16:05:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:13 ago, cause: software
2025-04-24 16:05:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:08 [debug] Moves scheduled 47474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 97, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3250755042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:05:08 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17946, writes 0 timeouts 0
2025-04-24 16:05:08 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36046/37088
2025-04-24 16:05:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9371, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:08 [info] currentZPosition:0.133
2025-04-24 16:05:09 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:09 [debug] Diagnostics for board 50:
2025-04-24 16:05:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:07:14 ago, cause: software
2025-04-24 16:05:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:09 [debug] Moves scheduled 47478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3249750146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:05:09 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16888, writes 0 timeouts 0
2025-04-24 16:05:09 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36093/37123
2025-04-24 16:05:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:10 [info] currentZPosition:0.134
2025-04-24 16:05:11 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:11 [debug] Diagnostics for board 50:
2025-04-24 16:05:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:07:16 ago, cause: software
2025-04-24 16:05:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:11 [debug] Moves scheduled 47482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -4/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3248718236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:05:11 [debug] Driver 0: pos -3537, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17284, writes 0 timeouts 0
2025-04-24 16:05:11 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36050/37113
2025-04-24 16:05:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9246, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:11 [info] currentZPosition:0.135
2025-04-24 16:05:11 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:13 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:13 [debug] Diagnostics for board 50:
2025-04-24 16:05:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:17 ago, cause: software
2025-04-24 16:05:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:13 [debug] Moves scheduled 47488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15306
Sync err accum 71, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3247448689 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:13 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21307, writes 0 timeouts 0
2025-04-24 16:05:13 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36084/37114
2025-04-24 16:05:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:13 [info] currentZPosition:0.134
2025-04-24 16:05:13 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:14 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:14 [debug] Diagnostics for board 50:
2025-04-24 16:05:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:19 ago, cause: software
2025-04-24 16:05:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:14 [debug] Moves scheduled 47494, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3246166043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:05:14 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21591, writes 0 timeouts 0
2025-04-24 16:05:14 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36009/37111
2025-04-24 16:05:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:14 [info] currentZPosition:0.135
2025-04-24 16:05:16 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:16 [debug] Diagnostics for board 50:
2025-04-24 16:05:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:21 ago, cause: software
2025-04-24 16:05:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:16 [debug] Moves scheduled 47498, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3245145322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:05:16 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17056, writes 0 timeouts 0
2025-04-24 16:05:16 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36064/37121
2025-04-24 16:05:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9235, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:16 [info] currentZPosition:0.135
2025-04-24 16:05:17 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:17 [debug] Diagnostics for board 50:
2025-04-24 16:05:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:22 ago, cause: software
2025-04-24 16:05:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:17 [debug] Moves scheduled 47502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3244048403 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:17 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18394, writes 0 timeouts 0
2025-04-24 16:05:17 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36014/37118
2025-04-24 16:05:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9365, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:17 [info] currentZPosition:0.133
2025-04-24 16:05:18 [debug] Stopped at height 0.132 mm
2025-04-24 16:05:19 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:19 [debug] Diagnostics for board 50:
2025-04-24 16:05:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:24 ago, cause: software
2025-04-24 16:05:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:19 [debug] Moves scheduled 47508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3242812996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:19 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20770, writes 0 timeouts 0
2025-04-24 16:05:19 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36120/37103
2025-04-24 16:05:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:19 [info] currentZPosition:0.134
2025-04-24 16:05:19 [debug] Stopped at height 0.132 mm
2025-04-24 16:05:20 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:20 [debug] Diagnostics for board 50:
2025-04-24 16:05:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:25 ago, cause: software
2025-04-24 16:05:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:20 [debug] Moves scheduled 47514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3241509116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:05:20 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21842, writes 0 timeouts 0
2025-04-24 16:05:20 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36010/37146
2025-04-24 16:05:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:21 [info] currentZPosition:0.134
2025-04-24 16:05:21 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:22 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:22 [debug] Diagnostics for board 50:
2025-04-24 16:05:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:27 ago, cause: software
2025-04-24 16:05:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:22 [debug] Moves scheduled 47520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3240254715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:05:22 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21049, writes 0 timeouts 0
2025-04-24 16:05:22 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36063/37127
2025-04-24 16:05:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:22 [info] currentZPosition:0.134
2025-04-24 16:05:24 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:24 [debug] Diagnostics for board 50:
2025-04-24 16:05:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:28 ago, cause: software
2025-04-24 16:05:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:24 [debug] Moves scheduled 47524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 64, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3239195241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 16:05:24 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17803, writes 0 timeouts 0
2025-04-24 16:05:24 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36056/37123
2025-04-24 16:05:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:24 [info] currentZPosition:0.134
2025-04-24 16:05:25 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:25 [debug] Diagnostics for board 50:
2025-04-24 16:05:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:30 ago, cause: software
2025-04-24 16:05:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:25 [debug] Moves scheduled 47528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 68, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3238179107 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:25 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17039, writes 0 timeouts 0
2025-04-24 16:05:25 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36116/37123
2025-04-24 16:05:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:25 [info] currentZPosition:0.134
2025-04-24 16:05:26 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:26 [debug] Diagnostics for board 50:
2025-04-24 16:05:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:07:31 ago, cause: software
2025-04-24 16:05:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:26 [debug] Moves scheduled 47532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3237125125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:05:26 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17670, writes 0 timeouts 0
2025-04-24 16:05:26 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36043/37156
2025-04-24 16:05:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:26 [info] currentZPosition:0.134
2025-04-24 16:05:28 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:28 [debug] Diagnostics for board 50:
2025-04-24 16:05:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:33 ago, cause: software
2025-04-24 16:05:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:28 [debug] Moves scheduled 47536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3236102215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:05:28 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17175, writes 0 timeouts 0
2025-04-24 16:05:28 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36071/37122
2025-04-24 16:05:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:28 [info] currentZPosition:0.134
2025-04-24 16:05:29 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:29 [debug] Diagnostics for board 50:
2025-04-24 16:05:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:34 ago, cause: software
2025-04-24 16:05:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:29 [debug] Moves scheduled 47540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3235048820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:05:29 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17664, writes 0 timeouts 0
2025-04-24 16:05:29 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36018/37112
2025-04-24 16:05:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:29 [info] currentZPosition:0.134
2025-04-24 16:05:30 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:30 [debug] Diagnostics for board 50:
2025-04-24 16:05:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:35 ago, cause: software
2025-04-24 16:05:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:30 [debug] Moves scheduled 47544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 84, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3234030007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:05:30 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17089, writes 0 timeouts 0
2025-04-24 16:05:30 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36228/37104
2025-04-24 16:05:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:31 [info] currentZPosition:0.135
2025-04-24 16:05:32 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:32 [debug] Diagnostics for board 50:
2025-04-24 16:05:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:37 ago, cause: software
2025-04-24 16:05:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:32 [debug] Moves scheduled 47548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 79, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3232962083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:32 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17924, writes 0 timeouts 0
2025-04-24 16:05:32 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36004/37162
2025-04-24 16:05:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:32 [info] currentZPosition:0.134
2025-04-24 16:05:33 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:33 [debug] Diagnostics for board 50:
2025-04-24 16:05:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:38 ago, cause: software
2025-04-24 16:05:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:33 [debug] Moves scheduled 47552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3231955108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:05:33 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16893, writes 0 timeouts 0
2025-04-24 16:05:33 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36320/37138
2025-04-24 16:05:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:33 [info] currentZPosition:0.135
2025-04-24 16:05:35 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:35 [debug] Diagnostics for board 50:
2025-04-24 16:05:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:40 ago, cause: software
2025-04-24 16:05:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:35 [debug] Moves scheduled 47556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3230898351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:05:35 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17736, writes 0 timeouts 0
2025-04-24 16:05:35 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36067/37147
2025-04-24 16:05:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:35 [info] currentZPosition:0.135
2025-04-24 16:05:36 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:36 [debug] Diagnostics for board 50:
2025-04-24 16:05:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:41 ago, cause: software
2025-04-24 16:05:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:36 [debug] Moves scheduled 47560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3229860931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:36 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17414, writes 0 timeouts 0
2025-04-24 16:05:36 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36353/37128
2025-04-24 16:05:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:36 [info] currentZPosition:0.134
2025-04-24 16:05:37 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:37 [debug] Diagnostics for board 50:
2025-04-24 16:05:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:42 ago, cause: software
2025-04-24 16:05:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:37 [debug] Moves scheduled 47564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3228810199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:05:37 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17624, writes 0 timeouts 0
2025-04-24 16:05:37 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36084/37132
2025-04-24 16:05:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:38 [info] currentZPosition:0.135
2025-04-24 16:05:39 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:39 [debug] Diagnostics for board 50:
2025-04-24 16:05:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:44 ago, cause: software
2025-04-24 16:05:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:39 [debug] Moves scheduled 47568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3227775452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:05:39 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17399, writes 0 timeouts 0
2025-04-24 16:05:39 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36381/37165
2025-04-24 16:05:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:39 [info] currentZPosition:0.134
2025-04-24 16:05:40 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:40 [debug] Diagnostics for board 50:
2025-04-24 16:05:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:45 ago, cause: software
2025-04-24 16:05:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:40 [debug] Moves scheduled 47572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 91, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3226703113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:05:40 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17949, writes 0 timeouts 0
2025-04-24 16:05:40 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36076/37152
2025-04-24 16:05:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:40 [info] currentZPosition:0.134
2025-04-24 16:05:42 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:42 [debug] Diagnostics for board 50:
2025-04-24 16:05:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:46 ago, cause: software
2025-04-24 16:05:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:42 [debug] Moves scheduled 47576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3225690291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:05:42 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17001, writes 0 timeouts 0
2025-04-24 16:05:42 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36284/37084
2025-04-24 16:05:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:42 [info] currentZPosition:0.134
2025-04-24 16:05:43 [debug] Stopped at height 0.133 mm
2025-04-24 16:05:43 [debug] Diagnostics for board 50:
2025-04-24 16:05:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:48 ago, cause: software
2025-04-24 16:05:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:43 [debug] Moves scheduled 47580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3224618065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:43 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17996, writes 0 timeouts 0
2025-04-24 16:05:43 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36092/37141
2025-04-24 16:05:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:43 [info] currentZPosition:0.133
2025-04-24 16:05:44 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:44 [debug] Diagnostics for board 50:
2025-04-24 16:05:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:07:49 ago, cause: software
2025-04-24 16:05:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:44 [debug] Moves scheduled 47584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3223609290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:05:44 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16917, writes 0 timeouts 0
2025-04-24 16:05:44 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 350, adv 36348/37112
2025-04-24 16:05:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:44 [info] currentZPosition:0.134
2025-04-24 16:05:46 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:46 [debug] Diagnostics for board 50:
2025-04-24 16:05:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:07:51 ago, cause: software
2025-04-24 16:05:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:46 [debug] Moves scheduled 47588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3222565242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:05:46 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17518, writes 0 timeouts 0
2025-04-24 16:05:46 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36053/37131
2025-04-24 16:05:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:46 [info] currentZPosition:0.135
2025-04-24 16:05:47 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:47 [debug] Diagnostics for board 50:
2025-04-24 16:05:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:52 ago, cause: software
2025-04-24 16:05:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:47 [debug] Moves scheduled 47592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3221534417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:05:47 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17287, writes 0 timeouts 0
2025-04-24 16:05:47 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36342/37126
2025-04-24 16:05:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:47 [info] currentZPosition:0.135
2025-04-24 16:05:49 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:49 [debug] Diagnostics for board 50:
2025-04-24 16:05:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:53 ago, cause: software
2025-04-24 16:05:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:49 [debug] Moves scheduled 47596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3220470774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:05:49 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17851, writes 0 timeouts 0
2025-04-24 16:05:49 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36092/37112
2025-04-24 16:05:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:49 [info] currentZPosition:0.134
2025-04-24 16:05:50 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:50 [debug] Diagnostics for board 50:
2025-04-24 16:05:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:55 ago, cause: software
2025-04-24 16:05:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:50 [debug] Moves scheduled 47600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15306
Sync err accum 69, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3219454753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:05:50 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17057, writes 0 timeouts 0
2025-04-24 16:05:50 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36328/37099
2025-04-24 16:05:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:50 [info] currentZPosition:0.135
2025-04-24 16:05:51 [debug] Stopped at height 0.135 mm
2025-04-24 16:05:51 [debug] Diagnostics for board 50:
2025-04-24 16:05:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:56 ago, cause: software
2025-04-24 16:05:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:51 [debug] Moves scheduled 47604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3218401779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:51 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17673, writes 0 timeouts 0
2025-04-24 16:05:51 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36037/37088
2025-04-24 16:05:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9256, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:51 [info] currentZPosition:0.135
2025-04-24 16:05:53 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:53 [debug] Diagnostics for board 50:
2025-04-24 16:05:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:58 ago, cause: software
2025-04-24 16:05:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:53 [debug] Moves scheduled 47608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3217365437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:05:53 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17382, writes 0 timeouts 0
2025-04-24 16:05:53 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36309/37147
2025-04-24 16:05:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:53 [info] currentZPosition:0.134
2025-04-24 16:05:54 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:54 [debug] Diagnostics for board 50:
2025-04-24 16:05:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:07:59 ago, cause: software
2025-04-24 16:05:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:54 [debug] Moves scheduled 47612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3216302087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:05:54 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17826, writes 0 timeouts 0
2025-04-24 16:05:54 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36003/37116
2025-04-24 16:05:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9352, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:54 [info] currentZPosition:0.134
2025-04-24 16:05:55 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:55 [debug] Diagnostics for board 50:
2025-04-24 16:05:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:00 ago, cause: software
2025-04-24 16:05:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:55 [debug] Moves scheduled 47616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3215285593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:05:55 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17054, writes 0 timeouts 0
2025-04-24 16:05:55 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36295/37166
2025-04-24 16:05:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:56 [info] currentZPosition:0.134
2025-04-24 16:05:57 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:57 [debug] Diagnostics for board 50:
2025-04-24 16:05:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:08:02 ago, cause: software
2025-04-24 16:05:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:57 [debug] Moves scheduled 47620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3214229858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:05:57 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17716, writes 0 timeouts 0
2025-04-24 16:05:57 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36012/37121
2025-04-24 16:05:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:57 [info] currentZPosition:0.134
2025-04-24 16:05:58 [debug] Stopped at height 0.134 mm
2025-04-24 16:05:58 [debug] Diagnostics for board 50:
2025-04-24 16:05:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:05:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:03 ago, cause: software
2025-04-24 16:05:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:05:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:05:58 [debug] Moves scheduled 47624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3213204127 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:05:58 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17207, writes 0 timeouts 0
2025-04-24 16:05:58 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36328/37157
2025-04-24 16:05:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:05:58 [info] currentZPosition:0.134
2025-04-24 16:06:00 [debug] Stopped at height 0.134 mm
2025-04-24 16:06:00 [debug] Diagnostics for board 50:
2025-04-24 16:06:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:05 ago, cause: software
2025-04-24 16:06:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:00 [debug] Moves scheduled 47628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3212132715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:00 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17998, writes 0 timeouts 0
2025-04-24 16:06:00 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36049/37121
2025-04-24 16:06:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9346, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:00 [info] currentZPosition:0.134
2025-04-24 16:06:01 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:01 [debug] Diagnostics for board 50:
2025-04-24 16:06:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:08:06 ago, cause: software
2025-04-24 16:06:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:01 [debug] Moves scheduled 47632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3211127639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:01 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16867, writes 0 timeouts 0
2025-04-24 16:06:01 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36325/37124
2025-04-24 16:06:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:01 [info] currentZPosition:0.135
2025-04-24 16:06:02 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:02 [debug] Diagnostics for board 50:
2025-04-24 16:06:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:08:07 ago, cause: software
2025-04-24 16:06:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:02 [debug] Moves scheduled 47636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3210071240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:06:02 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17708, writes 0 timeouts 0
2025-04-24 16:06:02 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36024/37121
2025-04-24 16:06:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:02 [info] currentZPosition:0.135
2025-04-24 16:06:04 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:04 [debug] Diagnostics for board 50:
2025-04-24 16:06:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:08:09 ago, cause: software
2025-04-24 16:06:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:04 [debug] Moves scheduled 47640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3209042023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:04 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17283, writes 0 timeouts 0
2025-04-24 16:06:04 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36393/37166
2025-04-24 16:06:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:04 [info] currentZPosition:0.135
2025-04-24 16:06:05 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:05 [debug] Diagnostics for board 50:
2025-04-24 16:06:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:10 ago, cause: software
2025-04-24 16:06:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:05 [debug] Moves scheduled 47644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3207987957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:05 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17695, writes 0 timeouts 0
2025-04-24 16:06:05 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36053/37153
2025-04-24 16:06:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9259, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:05 [info] currentZPosition:0.135
2025-04-24 16:06:06 [debug] Stopped at height 0.137 mm
2025-04-24 16:06:06 [debug] Diagnostics for board 50:
2025-04-24 16:06:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:08:11 ago, cause: software
2025-04-24 16:06:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:06 [debug] Moves scheduled 47648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3206993622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:06 [debug] Driver 0: pos -3531, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16679, writes 0 timeouts 0
2025-04-24 16:06:06 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36396/37122
2025-04-24 16:06:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 831
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9171, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:07 [info] currentZPosition:0.137
2025-04-24 16:06:07 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:08 [debug] Stopped at height 0.133 mm
2025-04-24 16:06:08 [debug] Diagnostics for board 50:
2025-04-24 16:06:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:13 ago, cause: software
2025-04-24 16:06:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:08 [debug] Moves scheduled 47654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3205630698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:08 [debug] Driver 0: pos -3572, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22860, writes 0 timeouts 0
2025-04-24 16:06:08 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36024/37144
2025-04-24 16:06:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9448, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:08 [info] currentZPosition:0.133
2025-04-24 16:06:09 [debug] Stopped at height 0.131 mm
2025-04-24 16:06:10 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:10 [debug] Diagnostics for board 50:
2025-04-24 16:06:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:15 ago, cause: software
2025-04-24 16:06:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:10 [debug] Moves scheduled 47660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3204418881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:10 [debug] Driver 0: pos -3541, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20349, writes 0 timeouts 0
2025-04-24 16:06:10 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36352/37119
2025-04-24 16:06:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9221, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:10 [info] currentZPosition:0.136
2025-04-24 16:06:10 [debug] Stopped at height 0.133 mm
2025-04-24 16:06:11 [debug] Stopped at height 0.132 mm
2025-04-24 16:06:12 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:12 [debug] Diagnostics for board 50:
2025-04-24 16:06:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:17 ago, cause: software
2025-04-24 16:06:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:12 [debug] Moves scheduled 47668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3202863032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:06:12 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26126, writes 0 timeouts 0
2025-04-24 16:06:12 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36045/37100
2025-04-24 16:06:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:12 [info] currentZPosition:0.135
2025-04-24 16:06:12 [debug] Stopped at height 0.133 mm
2025-04-24 16:06:14 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:14 [debug] Diagnostics for board 50:
2025-04-24 16:06:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:19 ago, cause: software
2025-04-24 16:06:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:14 [debug] Moves scheduled 47674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15306
Sync err accum 100, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3201592846 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:06:14 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21291, writes 0 timeouts 0
2025-04-24 16:06:14 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36350/37121
2025-04-24 16:06:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:14 [info] currentZPosition:0.135
2025-04-24 16:06:15 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:15 [debug] Diagnostics for board 50:
2025-04-24 16:06:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:20 ago, cause: software
2025-04-24 16:06:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:15 [debug] Moves scheduled 47678, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3200551532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:06:15 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17482, writes 0 timeouts 0
2025-04-24 16:06:15 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36060/37173
2025-04-24 16:06:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:15 [info] currentZPosition:0.136
2025-04-24 16:06:16 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:16 [debug] Diagnostics for board 50:
2025-04-24 16:06:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:21 ago, cause: software
2025-04-24 16:06:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:16 [debug] Moves scheduled 47682, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3199509108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:06:16 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17515, writes 0 timeouts 0
2025-04-24 16:06:16 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36327/37151
2025-04-24 16:06:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:17 [info] currentZPosition:0.135
2025-04-24 16:06:18 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:18 [debug] Diagnostics for board 50:
2025-04-24 16:06:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:08:23 ago, cause: software
2025-04-24 16:06:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:18 [debug] Moves scheduled 47686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3198454263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:06:18 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17680, writes 0 timeouts 0
2025-04-24 16:06:18 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36046/37111
2025-04-24 16:06:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:18 [info] currentZPosition:0.135
2025-04-24 16:06:19 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:19 [debug] Diagnostics for board 50:
2025-04-24 16:06:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:24 ago, cause: software
2025-04-24 16:06:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:19 [debug] Moves scheduled 47690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -4/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3197428166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:06:19 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17213, writes 0 timeouts 0
2025-04-24 16:06:19 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36351/37140
2025-04-24 16:06:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:19 [info] currentZPosition:0.135
2025-04-24 16:06:21 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:21 [debug] Diagnostics for board 50:
2025-04-24 16:06:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:26 ago, cause: software
2025-04-24 16:06:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:21 [debug] Moves scheduled 47694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3196357662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:06:21 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17982, writes 0 timeouts 0
2025-04-24 16:06:21 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36056/37161
2025-04-24 16:06:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:21 [info] currentZPosition:0.135
2025-04-24 16:06:22 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:22 [debug] Diagnostics for board 50:
2025-04-24 16:06:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:08:27 ago, cause: software
2025-04-24 16:06:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:22 [debug] Moves scheduled 47698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3195353098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:22 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16842, writes 0 timeouts 0
2025-04-24 16:06:22 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36323/37131
2025-04-24 16:06:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:22 [info] currentZPosition:0.136
2025-04-24 16:06:23 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:23 [debug] Diagnostics for board 50:
2025-04-24 16:06:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:28 ago, cause: software
2025-04-24 16:06:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:23 [debug] Moves scheduled 47702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3194295070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:23 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17747, writes 0 timeouts 0
2025-04-24 16:06:23 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36054/37122
2025-04-24 16:06:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:24 [info] currentZPosition:0.135
2025-04-24 16:06:25 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:25 [debug] Diagnostics for board 50:
2025-04-24 16:06:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:30 ago, cause: software
2025-04-24 16:06:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:25 [debug] Moves scheduled 47706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3193259361 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:06:25 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17382, writes 0 timeouts 0
2025-04-24 16:06:25 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36232/37146
2025-04-24 16:06:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:25 [info] currentZPosition:0.135
2025-04-24 16:06:26 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:26 [debug] Diagnostics for board 50:
2025-04-24 16:06:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:31 ago, cause: software
2025-04-24 16:06:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:26 [debug] Moves scheduled 47710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3192221580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:06:26 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17415, writes 0 timeouts 0
2025-04-24 16:06:26 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36003/37166
2025-04-24 16:06:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:26 [info] currentZPosition:0.136
2025-04-24 16:06:28 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:28 [debug] Diagnostics for board 50:
2025-04-24 16:06:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:32 ago, cause: software
2025-04-24 16:06:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:28 [debug] Moves scheduled 47714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3191195270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:28 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17217, writes 0 timeouts 0
2025-04-24 16:06:28 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36144/37128
2025-04-24 16:06:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:28 [info] currentZPosition:0.135
2025-04-24 16:06:29 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:29 [debug] Diagnostics for board 50:
2025-04-24 16:06:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:34 ago, cause: software
2025-04-24 16:06:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:29 [debug] Moves scheduled 47718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 3190149233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:06:29 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17571, writes 0 timeouts 0
2025-04-24 16:06:29 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36077/37133
2025-04-24 16:06:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:29 [info] currentZPosition:0.136
2025-04-24 16:06:30 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:30 [debug] Diagnostics for board 50:
2025-04-24 16:06:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:35 ago, cause: software
2025-04-24 16:06:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:30 [debug] Moves scheduled 47722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3189113324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:30 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17349, writes 0 timeouts 0
2025-04-24 16:06:30 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36055/37122
2025-04-24 16:06:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:30 [info] currentZPosition:0.135
2025-04-24 16:06:32 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:32 [debug] Diagnostics for board 50:
2025-04-24 16:06:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:37 ago, cause: software
2025-04-24 16:06:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:32 [debug] Moves scheduled 47726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3188058898 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:06:32 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17692, writes 0 timeouts 0
2025-04-24 16:06:32 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36013/37109
2025-04-24 16:06:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:32 [info] currentZPosition:0.135
2025-04-24 16:06:33 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:33 [debug] Diagnostics for board 50:
2025-04-24 16:06:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:38 ago, cause: software
2025-04-24 16:06:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:33 [debug] Moves scheduled 47730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3187042532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:33 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17085, writes 0 timeouts 0
2025-04-24 16:06:33 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36057/37096
2025-04-24 16:06:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:33 [info] currentZPosition:0.136
2025-04-24 16:06:35 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:35 [debug] Diagnostics for board 50:
2025-04-24 16:06:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:39 ago, cause: software
2025-04-24 16:06:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:35 [debug] Moves scheduled 47734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3185971680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:35 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17943, writes 0 timeouts 0
2025-04-24 16:06:35 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36027/37105
2025-04-24 16:06:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:35 [info] currentZPosition:0.135
2025-04-24 16:06:36 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:36 [debug] Diagnostics for board 50:
2025-04-24 16:06:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:08:41 ago, cause: software
2025-04-24 16:06:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:36 [debug] Moves scheduled 47738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 82, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3184959506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:36 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16992, writes 0 timeouts 0
2025-04-24 16:06:36 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36130/37081
2025-04-24 16:06:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:36 [info] currentZPosition:0.136
2025-04-24 16:06:37 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:37 [debug] Diagnostics for board 50:
2025-04-24 16:06:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:42 ago, cause: software
2025-04-24 16:06:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:37 [debug] Moves scheduled 47742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3183887548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:37 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18008, writes 0 timeouts 0
2025-04-24 16:06:37 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36031/37149
2025-04-24 16:06:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:37 [info] currentZPosition:0.135
2025-04-24 16:06:39 [debug] Stopped at height 0.134 mm
2025-04-24 16:06:39 [debug] Diagnostics for board 50:
2025-04-24 16:06:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:08:44 ago, cause: software
2025-04-24 16:06:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:39 [debug] Moves scheduled 47746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3182858078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:39 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17243, writes 0 timeouts 0
2025-04-24 16:06:39 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36100/37146
2025-04-24 16:06:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:39 [info] currentZPosition:0.134
2025-04-24 16:06:40 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:40 [debug] Diagnostics for board 50:
2025-04-24 16:06:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:45 ago, cause: software
2025-04-24 16:06:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:40 [debug] Moves scheduled 47750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3181809772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:06:40 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17585, writes 0 timeouts 0
2025-04-24 16:06:40 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36093/37154
2025-04-24 16:06:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:40 [info] currentZPosition:0.135
2025-04-24 16:06:41 [debug] Stopped at height 0.134 mm
2025-04-24 16:06:41 [debug] Diagnostics for board 50:
2025-04-24 16:06:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:46 ago, cause: software
2025-04-24 16:06:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:41 [debug] Moves scheduled 47754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3180780002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:06:41 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17300, writes 0 timeouts 0
2025-04-24 16:06:41 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36065/37101
2025-04-24 16:06:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9362, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:42 [info] currentZPosition:0.134
2025-04-24 16:06:43 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:43 [debug] Diagnostics for board 50:
2025-04-24 16:06:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:08:48 ago, cause: software
2025-04-24 16:06:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:43 [debug] Moves scheduled 47758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3179746579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:43 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17333, writes 0 timeouts 0
2025-04-24 16:06:43 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36054/37107
2025-04-24 16:06:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:43 [info] currentZPosition:0.135
2025-04-24 16:06:43 [debug] Stopped at height 0.134 mm
2025-04-24 16:06:44 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:44 [debug] Diagnostics for board 50:
2025-04-24 16:06:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:49 ago, cause: software
2025-04-24 16:06:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:44 [debug] Moves scheduled 47764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3178498816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:06:44 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20919, writes 0 timeouts 0
2025-04-24 16:06:44 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36098/37092
2025-04-24 16:06:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:45 [info] currentZPosition:0.136
2025-04-24 16:06:45 [debug] Stopped at height 0.134 mm
2025-04-24 16:06:46 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:46 [debug] Diagnostics for board 50:
2025-04-24 16:06:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:51 ago, cause: software
2025-04-24 16:06:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:46 [debug] Moves scheduled 47770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3177195354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:06:46 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21896, writes 0 timeouts 0
2025-04-24 16:06:46 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36009/37141
2025-04-24 16:06:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:46 [info] currentZPosition:0.136
2025-04-24 16:06:47 [debug] Stopped at height 0.134 mm
2025-04-24 16:06:48 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:48 [debug] Diagnostics for board 50:
2025-04-24 16:06:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:53 ago, cause: software
2025-04-24 16:06:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:48 [debug] Moves scheduled 47776, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3175933632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:06:48 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21155, writes 0 timeouts 0
2025-04-24 16:06:48 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36111/37147
2025-04-24 16:06:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:48 [info] currentZPosition:0.135
2025-04-24 16:06:49 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:49 [debug] Diagnostics for board 50:
2025-04-24 16:06:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:08:54 ago, cause: software
2025-04-24 16:06:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:49 [debug] Moves scheduled 47780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3174892404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:06:49 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17464, writes 0 timeouts 0
2025-04-24 16:06:49 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36020/37119
2025-04-24 16:06:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:49 [info] currentZPosition:0.136
2025-04-24 16:06:51 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:51 [debug] Diagnostics for board 50:
2025-04-24 16:06:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:56 ago, cause: software
2025-04-24 16:06:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:51 [debug] Moves scheduled 47784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 93, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3173852562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:06:51 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17463, writes 0 timeouts 0
2025-04-24 16:06:51 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36102/37122
2025-04-24 16:06:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:51 [info] currentZPosition:0.135
2025-04-24 16:06:52 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:52 [debug] Diagnostics for board 50:
2025-04-24 16:06:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:57 ago, cause: software
2025-04-24 16:06:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:52 [debug] Moves scheduled 47788, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 92, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3172802532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:52 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17610, writes 0 timeouts 0
2025-04-24 16:06:52 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35871/37119
2025-04-24 16:06:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:52 [info] currentZPosition:0.135
2025-04-24 16:06:53 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:53 [debug] Diagnostics for board 50:
2025-04-24 16:06:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:08:58 ago, cause: software
2025-04-24 16:06:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:53 [debug] Moves scheduled 47792, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3171776027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:06:53 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17204, writes 0 timeouts 0
2025-04-24 16:06:53 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36150/37119
2025-04-24 16:06:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:54 [info] currentZPosition:0.135
2025-04-24 16:06:55 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:55 [debug] Diagnostics for board 50:
2025-04-24 16:06:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:09:00 ago, cause: software
2025-04-24 16:06:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:55 [debug] Moves scheduled 47796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 85, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3170735759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:06:55 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17466, writes 0 timeouts 0
2025-04-24 16:06:55 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36042/37112
2025-04-24 16:06:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:55 [info] currentZPosition:0.136
2025-04-24 16:06:56 [debug] Stopped at height 0.135 mm
2025-04-24 16:06:56 [debug] Diagnostics for board 50:
2025-04-24 16:06:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:01 ago, cause: software
2025-04-24 16:06:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:56 [debug] Moves scheduled 47800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3169700745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:06:56 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17366, writes 0 timeouts 0
2025-04-24 16:06:56 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36086/37147
2025-04-24 16:06:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:56 [info] currentZPosition:0.135
2025-04-24 16:06:58 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:58 [debug] Diagnostics for board 50:
2025-04-24 16:06:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:03 ago, cause: software
2025-04-24 16:06:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:58 [debug] Moves scheduled 47804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3168652213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:06:58 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17609, writes 0 timeouts 0
2025-04-24 16:06:58 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36046/37126
2025-04-24 16:06:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:58 [info] currentZPosition:0.136
2025-04-24 16:06:59 [debug] Stopped at height 0.136 mm
2025-04-24 16:06:59 [debug] Diagnostics for board 50:
2025-04-24 16:06:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:06:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:04 ago, cause: software
2025-04-24 16:06:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:06:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:06:59 [debug] Moves scheduled 47808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3167628480 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:06:59 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17182, writes 0 timeouts 0
2025-04-24 16:06:59 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36096/37173
2025-04-24 16:06:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:06:59 [info] currentZPosition:0.136
2025-04-24 16:07:00 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:00 [debug] Diagnostics for board 50:
2025-04-24 16:07:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:05 ago, cause: software
2025-04-24 16:07:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:00 [debug] Moves scheduled 47812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3166576441 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:00 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17652, writes 0 timeouts 0
2025-04-24 16:07:00 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35998/37134
2025-04-24 16:07:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:00 [info] currentZPosition:0.136
2025-04-24 16:07:02 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:02 [debug] Diagnostics for board 50:
2025-04-24 16:07:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:07 ago, cause: software
2025-04-24 16:07:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:02 [debug] Moves scheduled 47816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3165561136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:02 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17025, writes 0 timeouts 0
2025-04-24 16:07:02 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36063/37121
2025-04-24 16:07:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 832
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9238, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:02 [info] currentZPosition:0.137
2025-04-24 16:07:03 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:03 [debug] Diagnostics for board 50:
2025-04-24 16:07:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:08 ago, cause: software
2025-04-24 16:07:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:03 [debug] Moves scheduled 47820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 66, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3164483026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:03 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18090, writes 0 timeouts 0
2025-04-24 16:07:03 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36097/37143
2025-04-24 16:07:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:03 [info] currentZPosition:0.136
2025-04-24 16:07:05 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:05 [debug] Diagnostics for board 50:
2025-04-24 16:07:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:09 ago, cause: software
2025-04-24 16:07:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:05 [debug] Moves scheduled 47824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3163456389 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:05 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17217, writes 0 timeouts 0
2025-04-24 16:07:05 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36087/37120
2025-04-24 16:07:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9351, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:05 [info] currentZPosition:0.135
2025-04-24 16:07:06 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:06 [debug] Diagnostics for board 50:
2025-04-24 16:07:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:11 ago, cause: software
2025-04-24 16:07:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:06 [debug] Moves scheduled 47828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3162410113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:06 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17563, writes 0 timeouts 0
2025-04-24 16:07:06 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36100/37157
2025-04-24 16:07:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:06 [info] currentZPosition:0.136
2025-04-24 16:07:07 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:07 [debug] Diagnostics for board 50:
2025-04-24 16:07:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:12 ago, cause: software
2025-04-24 16:07:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:07 [debug] Moves scheduled 47832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3161372030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:07 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17419, writes 0 timeouts 0
2025-04-24 16:07:07 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36053/37124
2025-04-24 16:07:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9376, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:07 [info] currentZPosition:0.135
2025-04-24 16:07:09 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:09 [debug] Diagnostics for board 50:
2025-04-24 16:07:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:14 ago, cause: software
2025-04-24 16:07:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:09 [debug] Moves scheduled 47836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15306
Sync err accum 74, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3160330219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:07:09 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17500, writes 0 timeouts 0
2025-04-24 16:07:09 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36031/37110
2025-04-24 16:07:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:09 [info] currentZPosition:0.136
2025-04-24 16:07:10 [debug] Stopped at height 0.134 mm
2025-04-24 16:07:10 [debug] Diagnostics for board 50:
2025-04-24 16:07:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:15 ago, cause: software
2025-04-24 16:07:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:10 [debug] Moves scheduled 47840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 69, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3159281913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:10 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17558, writes 0 timeouts 0
2025-04-24 16:07:10 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36111/37099
2025-04-24 16:07:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9397, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:10 [info] currentZPosition:0.134
2025-04-24 16:07:11 [debug] Stopped at height 0.133 mm
2025-04-24 16:07:12 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:12 [debug] Diagnostics for board 50:
2025-04-24 16:07:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:09:17 ago, cause: software
2025-04-24 16:07:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:12 [debug] Moves scheduled 47846, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3157998893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:07:12 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21530, writes 0 timeouts 0
2025-04-24 16:07:12 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35999/37144
2025-04-24 16:07:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:12 [info] currentZPosition:0.135
2025-04-24 16:07:12 [debug] Stopped at height 0.134 mm
2025-04-24 16:07:13 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:13 [debug] Diagnostics for board 50:
2025-04-24 16:07:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:18 ago, cause: software
2025-04-24 16:07:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:13 [debug] Moves scheduled 47852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10416, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3156741584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:07:13 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21102, writes 0 timeouts 0
2025-04-24 16:07:13 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36074/37148
2025-04-24 16:07:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:14 [info] currentZPosition:0.135
2025-04-24 16:07:15 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:15 [debug] Diagnostics for board 50:
2025-04-24 16:07:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:09:20 ago, cause: software
2025-04-24 16:07:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:15 [debug] Moves scheduled 47856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3155709059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:15 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17333, writes 0 timeouts 0
2025-04-24 16:07:15 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36051/37098
2025-04-24 16:07:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:15 [info] currentZPosition:0.136
2025-04-24 16:07:15 [debug] Stopped at height 0.134 mm
2025-04-24 16:07:17 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:17 [debug] Diagnostics for board 50:
2025-04-24 16:07:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:21 ago, cause: software
2025-04-24 16:07:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:17 [debug] Moves scheduled 47862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3154455911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:07:17 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21025, writes 0 timeouts 0
2025-04-24 16:07:17 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36093/37148
2025-04-24 16:07:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:17 [info] currentZPosition:0.136
2025-04-24 16:07:17 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:18 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:18 [debug] Diagnostics for board 50:
2025-04-24 16:07:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:23 ago, cause: software
2025-04-24 16:07:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:18 [debug] Moves scheduled 47868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3153174181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:18 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21513, writes 0 timeouts 0
2025-04-24 16:07:18 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36089/37128
2025-04-24 16:07:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:18 [info] currentZPosition:0.137
2025-04-24 16:07:19 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:20 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:20 [debug] Diagnostics for board 50:
2025-04-24 16:07:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:09:25 ago, cause: software
2025-04-24 16:07:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:20 [debug] Moves scheduled 47874, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3151878960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:20 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21726, writes 0 timeouts 0
2025-04-24 16:07:20 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36199/37113
2025-04-24 16:07:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:20 [info] currentZPosition:0.135
2025-04-24 16:07:21 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:21 [debug] Diagnostics for board 50:
2025-04-24 16:07:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:09:26 ago, cause: software
2025-04-24 16:07:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:21 [debug] Moves scheduled 47878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3150833205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:21 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17559, writes 0 timeouts 0
2025-04-24 16:07:21 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36042/37105
2025-04-24 16:07:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:21 [info] currentZPosition:0.136
2025-04-24 16:07:23 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:23 [debug] Diagnostics for board 50:
2025-04-24 16:07:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:28 ago, cause: software
2025-04-24 16:07:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:23 [debug] Moves scheduled 47882, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3149826104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:07:23 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16894, writes 0 timeouts 0
2025-04-24 16:07:23 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36365/37111
2025-04-24 16:07:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:23 [info] currentZPosition:0.136
2025-04-24 16:07:24 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:24 [debug] Diagnostics for board 50:
2025-04-24 16:07:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:29 ago, cause: software
2025-04-24 16:07:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:24 [debug] Moves scheduled 47886, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3148772948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:24 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17683, writes 0 timeouts 0
2025-04-24 16:07:24 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36069/37131
2025-04-24 16:07:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:24 [info] currentZPosition:0.137
2025-04-24 16:07:25 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:25 [debug] Diagnostics for board 50:
2025-04-24 16:07:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:30 ago, cause: software
2025-04-24 16:07:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:25 [debug] Moves scheduled 47890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3147733779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:07:25 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17439, writes 0 timeouts 0
2025-04-24 16:07:25 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36306/37118
2025-04-24 16:07:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:26 [info] currentZPosition:0.136
2025-04-24 16:07:27 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:27 [debug] Diagnostics for board 50:
2025-04-24 16:07:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:32 ago, cause: software
2025-04-24 16:07:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:27 [debug] Moves scheduled 47894, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3146670772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:07:27 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17824, writes 0 timeouts 0
2025-04-24 16:07:27 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36017/37124
2025-04-24 16:07:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:27 [info] currentZPosition:0.136
2025-04-24 16:07:28 [debug] Stopped at height 0.134 mm
2025-04-24 16:07:28 [debug] Diagnostics for board 50:
2025-04-24 16:07:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:33 ago, cause: software
2025-04-24 16:07:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:28 [debug] Moves scheduled 47898, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3145621121 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:28 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17613, writes 0 timeouts 0
2025-04-24 16:07:28 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36350/37090
2025-04-24 16:07:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9410, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:28 [info] currentZPosition:0.134
2025-04-24 16:07:29 [debug] Stopped at height 0.134 mm
2025-04-24 16:07:30 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:30 [debug] Diagnostics for board 50:
2025-04-24 16:07:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:35 ago, cause: software
2025-04-24 16:07:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:30 [debug] Moves scheduled 47904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3144338687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:07:30 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21521, writes 0 timeouts 0
2025-04-24 16:07:30 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36007/37105
2025-04-24 16:07:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9349, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:30 [info] currentZPosition:0.135
2025-04-24 16:07:31 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:31 [debug] Diagnostics for board 50:
2025-04-24 16:07:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:36 ago, cause: software
2025-04-24 16:07:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:31 [debug] Moves scheduled 47908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3143330123 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:31 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16962, writes 0 timeouts 0
2025-04-24 16:07:31 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36311/37145
2025-04-24 16:07:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:31 [info] currentZPosition:0.136
2025-04-24 16:07:33 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:33 [debug] Diagnostics for board 50:
2025-04-24 16:07:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:38 ago, cause: software
2025-04-24 16:07:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:33 [debug] Moves scheduled 47912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3142289015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:07:33 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17447, writes 0 timeouts 0
2025-04-24 16:07:33 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35998/37156
2025-04-24 16:07:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:33 [info] currentZPosition:0.137
2025-04-24 16:07:34 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:34 [debug] Diagnostics for board 50:
2025-04-24 16:07:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:39 ago, cause: software
2025-04-24 16:07:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:34 [debug] Moves scheduled 47916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3141242508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:07:34 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17549, writes 0 timeouts 0
2025-04-24 16:07:34 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36350/37088
2025-04-24 16:07:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:34 [info] currentZPosition:0.135
2025-04-24 16:07:36 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:36 [debug] Diagnostics for board 50:
2025-04-24 16:07:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:40 ago, cause: software
2025-04-24 16:07:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:36 [debug] Moves scheduled 47920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3140208054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:36 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17410, writes 0 timeouts 0
2025-04-24 16:07:36 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36004/37155
2025-04-24 16:07:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:36 [info] currentZPosition:0.137
2025-04-24 16:07:37 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:37 [debug] Diagnostics for board 50:
2025-04-24 16:07:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:09:42 ago, cause: software
2025-04-24 16:07:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:37 [debug] Moves scheduled 47924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3139178279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:37 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17257, writes 0 timeouts 0
2025-04-24 16:07:37 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36390/37117
2025-04-24 16:07:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9299, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:37 [info] currentZPosition:0.136
2025-04-24 16:07:38 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:38 [debug] Diagnostics for board 50:
2025-04-24 16:07:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:09:43 ago, cause: software
2025-04-24 16:07:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:38 [debug] Moves scheduled 47928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3138110253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:07:38 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17911, writes 0 timeouts 0
2025-04-24 16:07:38 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35998/37090
2025-04-24 16:07:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:38 [info] currentZPosition:0.136
2025-04-24 16:07:40 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:40 [debug] Diagnostics for board 50:
2025-04-24 16:07:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:45 ago, cause: software
2025-04-24 16:07:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:40 [debug] Moves scheduled 47932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3137085602 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:07:40 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17225, writes 0 timeouts 0
2025-04-24 16:07:40 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36365/37161
2025-04-24 16:07:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:40 [info] currentZPosition:0.136
2025-04-24 16:07:41 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:41 [debug] Diagnostics for board 50:
2025-04-24 16:07:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:09:46 ago, cause: software
2025-04-24 16:07:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:41 [debug] Moves scheduled 47936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3136036963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:41 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17567, writes 0 timeouts 0
2025-04-24 16:07:41 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36042/37117
2025-04-24 16:07:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:41 [info] currentZPosition:0.136
2025-04-24 16:07:42 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:42 [debug] Diagnostics for board 50:
2025-04-24 16:07:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:47 ago, cause: software
2025-04-24 16:07:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:42 [debug] Moves scheduled 47940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3135023476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:07:42 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17014, writes 0 timeouts 0
2025-04-24 16:07:42 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36333/37088
2025-04-24 16:07:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:43 [info] currentZPosition:0.137
2025-04-24 16:07:44 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:44 [debug] Diagnostics for board 50:
2025-04-24 16:07:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:49 ago, cause: software
2025-04-24 16:07:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:44 [debug] Moves scheduled 47944, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3133954269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:07:44 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17945, writes 0 timeouts 0
2025-04-24 16:07:44 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36042/37107
2025-04-24 16:07:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:44 [info] currentZPosition:0.136
2025-04-24 16:07:45 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:45 [debug] Diagnostics for board 50:
2025-04-24 16:07:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:09:50 ago, cause: software
2025-04-24 16:07:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:45 [debug] Moves scheduled 47948, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3132941322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:07:45 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16979, writes 0 timeouts 0
2025-04-24 16:07:45 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36320/37123
2025-04-24 16:07:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:45 [info] currentZPosition:0.137
2025-04-24 16:07:47 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:47 [debug] Diagnostics for board 50:
2025-04-24 16:07:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:09:52 ago, cause: software
2025-04-24 16:07:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:47 [debug] Moves scheduled 47952, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3131869381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:07:47 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17973, writes 0 timeouts 0
2025-04-24 16:07:47 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36012/37136
2025-04-24 16:07:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:47 [info] currentZPosition:0.136
2025-04-24 16:07:48 [debug] Stopped at height 0.135 mm
2025-04-24 16:07:48 [debug] Diagnostics for board 50:
2025-04-24 16:07:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:09:53 ago, cause: software
2025-04-24 16:07:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:48 [debug] Moves scheduled 47956, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3130834008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:07:48 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17403, writes 0 timeouts 0
2025-04-24 16:07:48 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36307/37115
2025-04-24 16:07:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9373, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:48 [info] currentZPosition:0.135
2025-04-24 16:07:49 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:49 [debug] Diagnostics for board 50:
2025-04-24 16:07:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:09:54 ago, cause: software
2025-04-24 16:07:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:49 [debug] Moves scheduled 47960, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3129790623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:07:49 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17518, writes 0 timeouts 0
2025-04-24 16:07:49 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36016/37116
2025-04-24 16:07:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:50 [info] currentZPosition:0.136
2025-04-24 16:07:51 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:51 [debug] Diagnostics for board 50:
2025-04-24 16:07:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:56 ago, cause: software
2025-04-24 16:07:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:51 [debug] Moves scheduled 47964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3128769553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:07:51 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17103, writes 0 timeouts 0
2025-04-24 16:07:51 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36326/37152
2025-04-24 16:07:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:51 [info] currentZPosition:0.136
2025-04-24 16:07:52 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:52 [debug] Diagnostics for board 50:
2025-04-24 16:07:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:57 ago, cause: software
2025-04-24 16:07:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:52 [debug] Moves scheduled 47968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3127713765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:52 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17755, writes 0 timeouts 0
2025-04-24 16:07:52 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36045/37114
2025-04-24 16:07:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:52 [info] currentZPosition:0.137
2025-04-24 16:07:54 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:54 [debug] Diagnostics for board 50:
2025-04-24 16:07:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:09:58 ago, cause: software
2025-04-24 16:07:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:54 [debug] Moves scheduled 47972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3126684105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:07:54 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17255, writes 0 timeouts 0
2025-04-24 16:07:54 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36315/37103
2025-04-24 16:07:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9255, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:54 [info] currentZPosition:0.137
2025-04-24 16:07:55 [debug] Stopped at height 0.137 mm
2025-04-24 16:07:55 [debug] Diagnostics for board 50:
2025-04-24 16:07:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:00 ago, cause: software
2025-04-24 16:07:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:55 [debug] Moves scheduled 47976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10135, max=15306
Sync err accum 109, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3125635883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:07:55 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17574, writes 0 timeouts 0
2025-04-24 16:07:55 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36058/37111
2025-04-24 16:07:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9247, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:55 [info] currentZPosition:0.137
2025-04-24 16:07:56 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:56 [debug] Diagnostics for board 50:
2025-04-24 16:07:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:01 ago, cause: software
2025-04-24 16:07:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:56 [debug] Moves scheduled 47980, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 105, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3124592343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:07:56 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17541, writes 0 timeouts 0
2025-04-24 16:07:56 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36311/37134
2025-04-24 16:07:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:56 [info] currentZPosition:0.136
2025-04-24 16:07:58 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:58 [debug] Diagnostics for board 50:
2025-04-24 16:07:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:03 ago, cause: software
2025-04-24 16:07:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:58 [debug] Moves scheduled 47984, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3123536435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:07:58 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17710, writes 0 timeouts 0
2025-04-24 16:07:58 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36051/37094
2025-04-24 16:07:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:58 [info] currentZPosition:0.136
2025-04-24 16:07:59 [debug] Stopped at height 0.136 mm
2025-04-24 16:07:59 [debug] Diagnostics for board 50:
2025-04-24 16:07:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:07:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:04 ago, cause: software
2025-04-24 16:07:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:07:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:07:59 [debug] Moves scheduled 47988, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3122503132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:07:59 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17328, writes 0 timeouts 0
2025-04-24 16:07:59 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36340/37124
2025-04-24 16:07:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:07:59 [info] currentZPosition:0.136
2025-04-24 16:08:01 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:01 [debug] Diagnostics for board 50:
2025-04-24 16:08:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:05 ago, cause: software
2025-04-24 16:08:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:01 [debug] Moves scheduled 47992, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter -3/-1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3121462009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:08:01 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17496, writes 0 timeouts 0
2025-04-24 16:08:01 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36017/37121
2025-04-24 16:08:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:01 [info] currentZPosition:0.137
2025-04-24 16:08:02 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:02 [debug] Diagnostics for board 50:
2025-04-24 16:08:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:07 ago, cause: software
2025-04-24 16:08:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:02 [debug] Moves scheduled 47996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 62, peak jitter -3/-2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3120432536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:08:02 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17237, writes 0 timeouts 0
2025-04-24 16:08:02 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36362/37128
2025-04-24 16:08:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:02 [info] currentZPosition:0.136
2025-04-24 16:08:03 [debug] Stopped at height 0.135 mm
2025-04-24 16:08:03 [debug] Diagnostics for board 50:
2025-04-24 16:08:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:08 ago, cause: software
2025-04-24 16:08:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:03 [debug] Moves scheduled 48000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3119356261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:08:03 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18067, writes 0 timeouts 0
2025-04-24 16:08:03 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 35987/37110
2025-04-24 16:08:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:03 [info] currentZPosition:0.135
2025-04-24 16:08:05 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:05 [debug] Diagnostics for board 50:
2025-04-24 16:08:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:10 ago, cause: software
2025-04-24 16:08:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:05 [debug] Moves scheduled 48004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 81, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3118353353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:08:05 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16860, writes 0 timeouts 0
2025-04-24 16:08:05 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36345/37143
2025-04-24 16:08:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:05 [info] currentZPosition:0.136
2025-04-24 16:08:06 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:06 [debug] Diagnostics for board 50:
2025-04-24 16:08:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:11 ago, cause: software
2025-04-24 16:08:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:06 [debug] Moves scheduled 48008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3117309497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:08:06 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17499, writes 0 timeouts 0
2025-04-24 16:08:06 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36044/37121
2025-04-24 16:08:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:06 [info] currentZPosition:0.137
2025-04-24 16:08:07 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:07 [debug] Diagnostics for board 50:
2025-04-24 16:08:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:12 ago, cause: software
2025-04-24 16:08:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:07 [debug] Moves scheduled 48012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter 1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3116278987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:08:07 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17273, writes 0 timeouts 0
2025-04-24 16:08:07 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36336/37102
2025-04-24 16:08:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:08 [info] currentZPosition:0.137
2025-04-24 16:08:09 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:09 [debug] Diagnostics for board 50:
2025-04-24 16:08:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:10:14 ago, cause: software
2025-04-24 16:08:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:09 [debug] Moves scheduled 48016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3115220576 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:08:09 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17796, writes 0 timeouts 0
2025-04-24 16:08:09 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36012/37087
2025-04-24 16:08:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:09 [info] currentZPosition:0.136
2025-04-24 16:08:10 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:10 [debug] Diagnostics for board 50:
2025-04-24 16:08:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:10:15 ago, cause: software
2025-04-24 16:08:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:10 [debug] Moves scheduled 48020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3114197516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:08:10 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17138, writes 0 timeouts 0
2025-04-24 16:08:10 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36342/37141
2025-04-24 16:08:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:10 [info] currentZPosition:0.137
2025-04-24 16:08:12 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:12 [debug] Diagnostics for board 50:
2025-04-24 16:08:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:17 ago, cause: software
2025-04-24 16:08:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:12 [debug] Moves scheduled 48024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3113147928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-24 16:08:12 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17612, writes 0 timeouts 0
2025-04-24 16:08:12 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36024/37122
2025-04-24 16:08:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:12 [info] currentZPosition:0.137
2025-04-24 16:08:13 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:13 [debug] Diagnostics for board 50:
2025-04-24 16:08:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:18 ago, cause: software
2025-04-24 16:08:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:13 [debug] Moves scheduled 48028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3112114183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:08:13 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17342, writes 0 timeouts 0
2025-04-24 16:08:13 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36242/37142
2025-04-24 16:08:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:13 [info] currentZPosition:0.136
2025-04-24 16:08:14 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:14 [debug] Diagnostics for board 50:
2025-04-24 16:08:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:19 ago, cause: software
2025-04-24 16:08:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:14 [debug] Moves scheduled 48032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3111048359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:08:14 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17906, writes 0 timeouts 0
2025-04-24 16:08:14 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36070/37122
2025-04-24 16:08:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:15 [info] currentZPosition:0.136
2025-04-24 16:08:16 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:16 [debug] Diagnostics for board 50:
2025-04-24 16:08:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:10:21 ago, cause: software
2025-04-24 16:08:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:16 [debug] Moves scheduled 48036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3110028438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:08:16 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17102, writes 0 timeouts 0
2025-04-24 16:08:16 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36100/37161
2025-04-24 16:08:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:16 [info] currentZPosition:0.136
2025-04-24 16:08:17 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:17 [debug] Diagnostics for board 50:
2025-04-24 16:08:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:22 ago, cause: software
2025-04-24 16:08:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:17 [debug] Moves scheduled 48040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3108980781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:08:17 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17581, writes 0 timeouts 0
2025-04-24 16:08:17 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36057/37157
2025-04-24 16:08:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:17 [info] currentZPosition:0.137
2025-04-24 16:08:19 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:19 [debug] Diagnostics for board 50:
2025-04-24 16:08:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:23 ago, cause: software
2025-04-24 16:08:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:19 [debug] Moves scheduled 48044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3107963910 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:08:19 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17074, writes 0 timeouts 0
2025-04-24 16:08:19 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36078/37153
2025-04-24 16:08:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:19 [info] currentZPosition:0.137
2025-04-24 16:08:20 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:20 [debug] Diagnostics for board 50:
2025-04-24 16:08:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:25 ago, cause: software
2025-04-24 16:08:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:20 [debug] Moves scheduled 48048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 77, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3106894682 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:08:20 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17947, writes 0 timeouts 0
2025-04-24 16:08:20 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36024/37141
2025-04-24 16:08:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:20 [info] currentZPosition:0.137
2025-04-24 16:08:21 [debug] Stopped at height 0.135 mm
2025-04-24 16:08:21 [debug] Diagnostics for board 50:
2025-04-24 16:08:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:26 ago, cause: software
2025-04-24 16:08:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:21 [debug] Moves scheduled 48052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 87, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3105843896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:08:21 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17628, writes 0 timeouts 0
2025-04-24 16:08:21 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36095/37120
2025-04-24 16:08:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9377, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:21 [info] currentZPosition:0.135
2025-04-24 16:08:22 [debug] Stopped at height 0.134 mm
2025-04-24 16:08:23 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:23 [debug] Diagnostics for board 50:
2025-04-24 16:08:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:28 ago, cause: software
2025-04-24 16:08:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:23 [debug] Moves scheduled 48058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3104568356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:08:23 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21396, writes 0 timeouts 0
2025-04-24 16:08:23 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36008/37116
2025-04-24 16:08:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:23 [info] currentZPosition:0.137
2025-04-24 16:08:23 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:25 [debug] Stopped at height 0.135 mm
2025-04-24 16:08:25 [debug] Diagnostics for board 50:
2025-04-24 16:08:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:10:30 ago, cause: software
2025-04-24 16:08:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:25 [debug] Moves scheduled 48064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3103284505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:08:25 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21539, writes 0 timeouts 0
2025-04-24 16:08:25 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36095/37081
2025-04-24 16:08:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:25 [info] currentZPosition:0.135
2025-04-24 16:08:26 [debug] Stopped at height 0.135 mm
2025-04-24 16:08:26 [debug] Diagnostics for board 50:
2025-04-24 16:08:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:31 ago, cause: software
2025-04-24 16:08:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:26 [debug] Moves scheduled 48068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3102225881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:08:26 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17770, writes 0 timeouts 0
2025-04-24 16:08:26 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36087/37124
2025-04-24 16:08:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9364, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:26 [info] currentZPosition:0.135
2025-04-24 16:08:28 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:28 [debug] Diagnostics for board 50:
2025-04-24 16:08:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:32 ago, cause: software
2025-04-24 16:08:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:28 [debug] Moves scheduled 48072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8823, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3101225858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:08:28 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16778, writes 0 timeouts 0
2025-04-24 16:08:28 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36014/37079
2025-04-24 16:08:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:28 [info] currentZPosition:0.136
2025-04-24 16:08:29 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:29 [debug] Diagnostics for board 50:
2025-04-24 16:08:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:34 ago, cause: software
2025-04-24 16:08:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:29 [debug] Moves scheduled 48076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 96, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3100163693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:08:29 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17840, writes 0 timeouts 0
2025-04-24 16:08:29 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36013/37123
2025-04-24 16:08:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:29 [info] currentZPosition:0.136
2025-04-24 16:08:30 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:30 [debug] Diagnostics for board 50:
2025-04-24 16:08:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:35 ago, cause: software
2025-04-24 16:08:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:30 [debug] Moves scheduled 48080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3099157717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:08:30 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16898, writes 0 timeouts 0
2025-04-24 16:08:30 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36097/37139
2025-04-24 16:08:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:30 [info] currentZPosition:0.137
2025-04-24 16:08:32 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:32 [debug] Diagnostics for board 50:
2025-04-24 16:08:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:37 ago, cause: software
2025-04-24 16:08:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:32 [debug] Moves scheduled 48084, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 76, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3098086433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:08:32 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17952, writes 0 timeouts 0
2025-04-24 16:08:32 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36094/37114
2025-04-24 16:08:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:32 [info] currentZPosition:0.137
2025-04-24 16:08:33 [debug] Stopped at height 0.138 mm
2025-04-24 16:08:33 [debug] Diagnostics for board 50:
2025-04-24 16:08:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:38 ago, cause: software
2025-04-24 16:08:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:33 [debug] Moves scheduled 48088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3097079976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:08:33 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16891, writes 0 timeouts 0
2025-04-24 16:08:33 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36058/37123
2025-04-24 16:08:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:33 [info] currentZPosition:0.138
2025-04-24 16:08:34 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:34 [debug] Diagnostics for board 50:
2025-04-24 16:08:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:39 ago, cause: software
2025-04-24 16:08:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:34 [debug] Moves scheduled 48092, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -3/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3095998667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:08:34 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18129, writes 0 timeouts 0
2025-04-24 16:08:34 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36054/37124
2025-04-24 16:08:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9383, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:35 [info] currentZPosition:0.136
2025-04-24 16:08:35 [debug] Stopped at height 0.134 mm
2025-04-24 16:08:36 [debug] Stopped at height 0.138 mm
2025-04-24 16:08:36 [debug] Diagnostics for board 50:
2025-04-24 16:08:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:41 ago, cause: software
2025-04-24 16:08:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:36 [debug] Moves scheduled 48098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9493, max=15000
Sync err accum 80, peak jitter 0/4, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3094763099 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:08:36 [debug] Driver 0: pos -3543, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20747, writes 0 timeouts 0
2025-04-24 16:08:36 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35974/37117
2025-04-24 16:08:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:36 [info] currentZPosition:0.138
2025-04-24 16:08:37 [debug] Stopped at height 0.135 mm
2025-04-24 16:08:38 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:38 [debug] Diagnostics for board 50:
2025-04-24 16:08:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:43 ago, cause: software
2025-04-24 16:08:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:38 [debug] Moves scheduled 48104, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 86, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3093450146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:08:38 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22017, writes 0 timeouts 0
2025-04-24 16:08:38 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36053/37140
2025-04-24 16:08:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:38 [info] currentZPosition:0.136
2025-04-24 16:08:39 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:39 [debug] Diagnostics for board 50:
2025-04-24 16:08:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:44 ago, cause: software
2025-04-24 16:08:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:39 [debug] Moves scheduled 48108, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=8620, max=15000
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3092441851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:08:39 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16941, writes 0 timeouts 0
2025-04-24 16:08:39 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36130/37122
2025-04-24 16:08:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:39 [info] currentZPosition:0.137
2025-04-24 16:08:41 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:41 [debug] Diagnostics for board 50:
2025-04-24 16:08:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:10:46 ago, cause: software
2025-04-24 16:08:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:41 [debug] Moves scheduled 48112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3091383332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:08:41 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17768, writes 0 timeouts 0
2025-04-24 16:08:41 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 35999/37076
2025-04-24 16:08:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:41 [info] currentZPosition:0.137
2025-04-24 16:08:42 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:42 [debug] Diagnostics for board 50:
2025-04-24 16:08:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:47 ago, cause: software
2025-04-24 16:08:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:42 [debug] Moves scheduled 48116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 78, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3090346753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:08:42 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17381, writes 0 timeouts 0
2025-04-24 16:08:42 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36145/37126
2025-04-24 16:08:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:42 [info] currentZPosition:0.137
2025-04-24 16:08:43 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:43 [debug] Diagnostics for board 50:
2025-04-24 16:08:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:48 ago, cause: software
2025-04-24 16:08:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:43 [debug] Moves scheduled 48120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3089289149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:08:43 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17745, writes 0 timeouts 0
2025-04-24 16:08:43 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36020/37174
2025-04-24 16:08:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:44 [info] currentZPosition:0.137
2025-04-24 16:08:45 [debug] Stopped at height 0.138 mm
2025-04-24 16:08:45 [debug] Diagnostics for board 50:
2025-04-24 16:08:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:50 ago, cause: software
2025-04-24 16:08:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:45 [debug] Moves scheduled 48124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 62, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3088285013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:08:45 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16852, writes 0 timeouts 0
2025-04-24 16:08:45 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36153/37097
2025-04-24 16:08:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9245, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:45 [info] currentZPosition:0.138
2025-04-24 16:08:46 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:46 [debug] Diagnostics for board 50:
2025-04-24 16:08:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:10:51 ago, cause: software
2025-04-24 16:08:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:46 [debug] Moves scheduled 48128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3087192176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:08:46 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18337, writes 0 timeouts 0
2025-04-24 16:08:46 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36014/37113
2025-04-24 16:08:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9389, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:46 [info] currentZPosition:0.136
2025-04-24 16:08:47 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:48 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:48 [debug] Diagnostics for board 50:
2025-04-24 16:08:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:53 ago, cause: software
2025-04-24 16:08:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:48 [debug] Moves scheduled 48134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3085954215 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:08:48 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20759, writes 0 timeouts 0
2025-04-24 16:08:48 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36111/37155
2025-04-24 16:08:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:48 [info] currentZPosition:0.137
2025-04-24 16:08:48 [debug] Stopped at height 0.136 mm
2025-04-24 16:08:50 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:50 [debug] Diagnostics for board 50:
2025-04-24 16:08:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:54 ago, cause: software
2025-04-24 16:08:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:50 [debug] Moves scheduled 48140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3084668993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:08:50 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21570, writes 0 timeouts 0
2025-04-24 16:08:50 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36029/37118
2025-04-24 16:08:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:50 [info] currentZPosition:0.137
2025-04-24 16:08:50 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:51 [debug] Stopped at height 0.138 mm
2025-04-24 16:08:51 [debug] Diagnostics for board 50:
2025-04-24 16:08:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:10:56 ago, cause: software
2025-04-24 16:08:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:51 [debug] Moves scheduled 48146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 97, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3083416909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:08:51 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21011, writes 0 timeouts 0
2025-04-24 16:08:51 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36108/37139
2025-04-24 16:08:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:51 [info] currentZPosition:0.138
2025-04-24 16:08:53 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:53 [debug] Diagnostics for board 50:
2025-04-24 16:08:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:58 ago, cause: software
2025-04-24 16:08:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:53 [debug] Moves scheduled 48150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3082350065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:08:53 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17908, writes 0 timeouts 0
2025-04-24 16:08:53 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36033/37072
2025-04-24 16:08:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:53 [info] currentZPosition:0.137
2025-04-24 16:08:54 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:54 [debug] Diagnostics for board 50:
2025-04-24 16:08:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:10:59 ago, cause: software
2025-04-24 16:08:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:54 [debug] Moves scheduled 48154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3081331310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:08:54 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17115, writes 0 timeouts 0
2025-04-24 16:08:54 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36130/37105
2025-04-24 16:08:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:54 [info] currentZPosition:0.137
2025-04-24 16:08:55 [debug] Stopped at height 0.138 mm
2025-04-24 16:08:55 [debug] Diagnostics for board 50:
2025-04-24 16:08:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:00 ago, cause: software
2025-04-24 16:08:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:55 [debug] Moves scheduled 48158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 86, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3080272133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 16:08:55 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17752, writes 0 timeouts 0
2025-04-24 16:08:55 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36085/37135
2025-04-24 16:08:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:56 [info] currentZPosition:0.138
2025-04-24 16:08:57 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:57 [debug] Diagnostics for board 50:
2025-04-24 16:08:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:02 ago, cause: software
2025-04-24 16:08:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:57 [debug] Moves scheduled 48162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3079236225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:08:57 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17364, writes 0 timeouts 0
2025-04-24 16:08:57 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36111/37118
2025-04-24 16:08:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9383, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:57 [info] currentZPosition:0.137
2025-04-24 16:08:58 [debug] Stopped at height 0.137 mm
2025-04-24 16:08:58 [debug] Diagnostics for board 50:
2025-04-24 16:08:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:08:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:03 ago, cause: software
2025-04-24 16:08:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:08:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:08:58 [debug] Moves scheduled 48166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3078193746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:08:58 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17526, writes 0 timeouts 0
2025-04-24 16:08:58 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36027/37090
2025-04-24 16:08:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:08:58 [info] currentZPosition:0.137
2025-04-24 16:09:00 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:00 [debug] Diagnostics for board 50:
2025-04-24 16:09:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:04 ago, cause: software
2025-04-24 16:09:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:00 [debug] Moves scheduled 48170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3077168047 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:00 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17172, writes 0 timeouts 0
2025-04-24 16:09:00 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36077/37122
2025-04-24 16:09:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:00 [info] currentZPosition:0.137
2025-04-24 16:09:01 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:01 [debug] Diagnostics for board 50:
2025-04-24 16:09:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:06 ago, cause: software
2025-04-24 16:09:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:01 [debug] Moves scheduled 48174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 326, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3076097015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:09:01 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17969, writes 0 timeouts 0
2025-04-24 16:09:01 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36060/37121
2025-04-24 16:09:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9348, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:01 [info] currentZPosition:0.137
2025-04-24 16:09:02 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:02 [debug] Diagnostics for board 50:
2025-04-24 16:09:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:07 ago, cause: software
2025-04-24 16:09:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:02 [debug] Moves scheduled 48178, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9868, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3075091701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:09:02 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16891, writes 0 timeouts 0
2025-04-24 16:09:02 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36060/37158
2025-04-24 16:09:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:02 [info] currentZPosition:0.137
2025-04-24 16:09:04 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:04 [debug] Diagnostics for board 50:
2025-04-24 16:09:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:09 ago, cause: software
2025-04-24 16:09:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:04 [debug] Moves scheduled 48182, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3074012290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:09:04 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18088, writes 0 timeouts 0
2025-04-24 16:09:04 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36052/37107
2025-04-24 16:09:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9370, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:04 [info] currentZPosition:0.136
2025-04-24 16:09:04 [debug] Stopped at height 0.135 mm
2025-04-24 16:09:05 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:05 [debug] Diagnostics for board 50:
2025-04-24 16:09:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:10 ago, cause: software
2025-04-24 16:09:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:05 [debug] Moves scheduled 48188, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15306
Sync err accum 87, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3072768338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:09:05 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20893, writes 0 timeouts 0
2025-04-24 16:09:05 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36053/37128
2025-04-24 16:09:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:06 [info] currentZPosition:0.137
2025-04-24 16:09:06 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:07 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:07 [debug] Diagnostics for board 50:
2025-04-24 16:09:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:11:12 ago, cause: software
2025-04-24 16:09:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:07 [debug] Moves scheduled 48194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3071474840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:09:07 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21735, writes 0 timeouts 0
2025-04-24 16:09:07 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36079/37115
2025-04-24 16:09:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9375, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:07 [info] currentZPosition:0.137
2025-04-24 16:09:09 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:09 [debug] Diagnostics for board 50:
2025-04-24 16:09:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:13 ago, cause: software
2025-04-24 16:09:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:09 [debug] Moves scheduled 48198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 73, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3070440873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:09 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17313, writes 0 timeouts 0
2025-04-24 16:09:09 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36186/37100
2025-04-24 16:09:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9390, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:09 [info] currentZPosition:0.136
2025-04-24 16:09:10 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:10 [debug] Diagnostics for board 50:
2025-04-24 16:09:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:11:15 ago, cause: software
2025-04-24 16:09:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:10 [debug] Moves scheduled 48202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3069422939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:09:10 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17088, writes 0 timeouts 0
2025-04-24 16:09:10 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36008/37132
2025-04-24 16:09:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:10 [info] currentZPosition:0.138
2025-04-24 16:09:10 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:12 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:12 [debug] Diagnostics for board 50:
2025-04-24 16:09:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:17 ago, cause: software
2025-04-24 16:09:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:12 [debug] Moves scheduled 48208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3068159758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:09:12 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21218, writes 0 timeouts 0
2025-04-24 16:09:12 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36321/37084
2025-04-24 16:09:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:12 [info] currentZPosition:0.138
2025-04-24 16:09:12 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:13 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:13 [debug] Diagnostics for board 50:
2025-04-24 16:09:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:18 ago, cause: software
2025-04-24 16:09:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:13 [debug] Moves scheduled 48214, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 72, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3066864137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:09:13 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21720, writes 0 timeouts 0
2025-04-24 16:09:13 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36060/37121
2025-04-24 16:09:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:13 [info] currentZPosition:0.138
2025-04-24 16:09:14 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:15 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:15 [debug] Diagnostics for board 50:
2025-04-24 16:09:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:20 ago, cause: software
2025-04-24 16:09:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:15 [debug] Moves scheduled 48220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 72, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3065590819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:15 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21363, writes 0 timeouts 0
2025-04-24 16:09:15 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36318/37124
2025-04-24 16:09:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9359, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:15 [info] currentZPosition:0.137
2025-04-24 16:09:16 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:16 [debug] Diagnostics for board 50:
2025-04-24 16:09:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:21 ago, cause: software
2025-04-24 16:09:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:16 [debug] Moves scheduled 48224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3064564523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:16 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17224, writes 0 timeouts 0
2025-04-24 16:09:16 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36025/37125
2025-04-24 16:09:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:16 [info] currentZPosition:0.138
2025-04-24 16:09:17 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:18 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:18 [debug] Diagnostics for board 50:
2025-04-24 16:09:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:23 ago, cause: software
2025-04-24 16:09:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:18 [debug] Moves scheduled 48230, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 67, peak jitter -2/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3063301035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:18 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21210, writes 0 timeouts 0
2025-04-24 16:09:18 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36375/37124
2025-04-24 16:09:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:18 [info] currentZPosition:0.138
2025-04-24 16:09:19 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:20 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:20 [debug] Diagnostics for board 50:
2025-04-24 16:09:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:25 ago, cause: software
2025-04-24 16:09:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:20 [debug] Moves scheduled 48236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3061993231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:09:20 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21929, writes 0 timeouts 0
2025-04-24 16:09:20 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36023/37128
2025-04-24 16:09:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9351, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:20 [info] currentZPosition:0.137
2025-04-24 16:09:21 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:21 [debug] Diagnostics for board 50:
2025-04-24 16:09:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:26 ago, cause: software
2025-04-24 16:09:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:21 [debug] Moves scheduled 48240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3060979304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:21 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17021, writes 0 timeouts 0
2025-04-24 16:09:21 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36330/37158
2025-04-24 16:09:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9285, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:21 [info] currentZPosition:0.138
2025-04-24 16:09:23 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:23 [debug] Diagnostics for board 50:
2025-04-24 16:09:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:28 ago, cause: software
2025-04-24 16:09:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:23 [debug] Moves scheduled 48244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3059913248 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:09:23 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17888, writes 0 timeouts 0
2025-04-24 16:09:23 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36058/37124
2025-04-24 16:09:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9299, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:23 [info] currentZPosition:0.137
2025-04-24 16:09:24 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:24 [debug] Diagnostics for board 50:
2025-04-24 16:09:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:29 ago, cause: software
2025-04-24 16:09:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:24 [debug] Moves scheduled 48248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3058893011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:24 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17124, writes 0 timeouts 0
2025-04-24 16:09:24 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36298/37127
2025-04-24 16:09:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:24 [info] currentZPosition:0.138
2025-04-24 16:09:25 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:25 [debug] Diagnostics for board 50:
2025-04-24 16:09:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:30 ago, cause: software
2025-04-24 16:09:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:25 [debug] Moves scheduled 48252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 66, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3057832022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:09:25 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17812, writes 0 timeouts 0
2025-04-24 16:09:25 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36026/37120
2025-04-24 16:09:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:25 [info] currentZPosition:0.138
2025-04-24 16:09:27 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:27 [debug] Diagnostics for board 50:
2025-04-24 16:09:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:32 ago, cause: software
2025-04-24 16:09:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:27 [debug] Moves scheduled 48256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3056803351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:09:27 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17242, writes 0 timeouts 0
2025-04-24 16:09:27 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36301/37111
2025-04-24 16:09:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:27 [info] currentZPosition:0.137
2025-04-24 16:09:28 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:28 [debug] Diagnostics for board 50:
2025-04-24 16:09:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:33 ago, cause: software
2025-04-24 16:09:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:28 [debug] Moves scheduled 48260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3055767788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:28 [debug] Driver 0: pos -3545, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17387, writes 0 timeouts 0
2025-04-24 16:09:28 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36028/37138
2025-04-24 16:09:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:28 [info] currentZPosition:0.138
2025-04-24 16:09:29 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:29 [debug] Diagnostics for board 50:
2025-04-24 16:09:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:34 ago, cause: software
2025-04-24 16:09:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:29 [debug] Moves scheduled 48264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 63, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3054734859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:29 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17328, writes 0 timeouts 0
2025-04-24 16:09:29 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36331/37162
2025-04-24 16:09:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:30 [info] currentZPosition:0.138
2025-04-24 16:09:31 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:31 [debug] Diagnostics for board 50:
2025-04-24 16:09:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:11:36 ago, cause: software
2025-04-24 16:09:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:31 [debug] Moves scheduled 48268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 3053652858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 16:09:31 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18151, writes 0 timeouts 0
2025-04-24 16:09:31 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36009/37163
2025-04-24 16:09:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9397, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:31 [info] currentZPosition:0.137
2025-04-24 16:09:31 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:33 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:33 [debug] Diagnostics for board 50:
2025-04-24 16:09:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:38 ago, cause: software
2025-04-24 16:09:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:33 [debug] Moves scheduled 48274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3052408055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:09:33 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20896, writes 0 timeouts 0
2025-04-24 16:09:33 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36312/37105
2025-04-24 16:09:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:33 [info] currentZPosition:0.138
2025-04-24 16:09:33 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:34 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:34 [debug] Diagnostics for board 50:
2025-04-24 16:09:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:39 ago, cause: software
2025-04-24 16:09:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:34 [debug] Moves scheduled 48280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3051093037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:34 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22063, writes 0 timeouts 0
2025-04-24 16:09:34 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36020/37125
2025-04-24 16:09:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9404, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:34 [info] currentZPosition:0.136
2025-04-24 16:09:36 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:36 [debug] Diagnostics for board 50:
2025-04-24 16:09:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:41 ago, cause: software
2025-04-24 16:09:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:36 [debug] Moves scheduled 48284, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 73, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3050094070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:36 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16762, writes 0 timeouts 0
2025-04-24 16:09:36 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36390/37119
2025-04-24 16:09:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:36 [info] currentZPosition:0.138
2025-04-24 16:09:37 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:37 [debug] Diagnostics for board 50:
2025-04-24 16:09:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:42 ago, cause: software
2025-04-24 16:09:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:37 [debug] Moves scheduled 48288, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3049031653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:37 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17829, writes 0 timeouts 0
2025-04-24 16:09:37 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36024/37098
2025-04-24 16:09:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:37 [info] currentZPosition:0.137
2025-04-24 16:09:38 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:38 [debug] Diagnostics for board 50:
2025-04-24 16:09:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:43 ago, cause: software
2025-04-24 16:09:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:38 [debug] Moves scheduled 48292, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 72, peak jitter -1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3047986979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:38 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17542, writes 0 timeouts 0
2025-04-24 16:09:38 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36372/37152
2025-04-24 16:09:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9378, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:39 [info] currentZPosition:0.136
2025-04-24 16:09:40 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:40 [debug] Diagnostics for board 50:
2025-04-24 16:09:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:45 ago, cause: software
2025-04-24 16:09:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:40 [debug] Moves scheduled 48296, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3046971164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:09:40 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17040, writes 0 timeouts 0
2025-04-24 16:09:40 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36014/37145
2025-04-24 16:09:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:40 [info] currentZPosition:0.138
2025-04-24 16:09:40 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:42 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:42 [debug] Diagnostics for board 50:
2025-04-24 16:09:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:46 ago, cause: software
2025-04-24 16:09:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:42 [debug] Moves scheduled 48302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3045686885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:09:42 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21534, writes 0 timeouts 0
2025-04-24 16:09:42 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36276/37156
2025-04-24 16:09:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9373, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:42 [info] currentZPosition:0.137
2025-04-24 16:09:43 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:43 [debug] Diagnostics for board 50:
2025-04-24 16:09:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:48 ago, cause: software
2025-04-24 16:09:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:43 [debug] Moves scheduled 48306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3044617495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:43 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17947, writes 0 timeouts 0
2025-04-24 16:09:43 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36036/37086
2025-04-24 16:09:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 850
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9411, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:43 [info] currentZPosition:0.136
2025-04-24 16:09:44 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:44 [debug] Diagnostics for board 50:
2025-04-24 16:09:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:49 ago, cause: software
2025-04-24 16:09:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:44 [debug] Moves scheduled 48310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 107, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3043622075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:44 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16694, writes 0 timeouts 0
2025-04-24 16:09:44 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36326/37121
2025-04-24 16:09:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:44 [info] currentZPosition:0.138
2025-04-24 16:09:45 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:46 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:46 [debug] Diagnostics for board 50:
2025-04-24 16:09:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:51 ago, cause: software
2025-04-24 16:09:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:46 [debug] Moves scheduled 48316, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 3042319720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:09:46 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21855, writes 0 timeouts 0
2025-04-24 16:09:46 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36041/37128
2025-04-24 16:09:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:46 [info] currentZPosition:0.138
2025-04-24 16:09:46 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:48 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:48 [debug] Diagnostics for board 50:
2025-04-24 16:09:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:53 ago, cause: software
2025-04-24 16:09:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:48 [debug] Moves scheduled 48322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3041066317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:09:48 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21027, writes 0 timeouts 0
2025-04-24 16:09:48 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36319/37160
2025-04-24 16:09:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:48 [info] currentZPosition:0.138
2025-04-24 16:09:49 [debug] Stopped at height 0.139 mm
2025-04-24 16:09:49 [debug] Diagnostics for board 50:
2025-04-24 16:09:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:54 ago, cause: software
2025-04-24 16:09:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:49 [debug] Moves scheduled 48326, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 97, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3040031373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:09:49 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17367, writes 0 timeouts 0
2025-04-24 16:09:49 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36026/37115
2025-04-24 16:09:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9249, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:49 [info] currentZPosition:0.139
2025-04-24 16:09:50 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:50 [debug] Diagnostics for board 50:
2025-04-24 16:09:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:11:55 ago, cause: software
2025-04-24 16:09:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:50 [debug] Moves scheduled 48330, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3038994646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:50 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17395, writes 0 timeouts 0
2025-04-24 16:09:50 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36318/37135
2025-04-24 16:09:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:51 [info] currentZPosition:0.138
2025-04-24 16:09:52 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:52 [debug] Diagnostics for board 50:
2025-04-24 16:09:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:11:57 ago, cause: software
2025-04-24 16:09:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:52 [debug] Moves scheduled 48334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -2/-2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 3037937302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:09:52 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17740, writes 0 timeouts 0
2025-04-24 16:09:52 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36056/37147
2025-04-24 16:09:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:52 [info] currentZPosition:0.138
2025-04-24 16:09:53 [debug] Stopped at height 0.138 mm
2025-04-24 16:09:53 [debug] Diagnostics for board 50:
2025-04-24 16:09:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:11:58 ago, cause: software
2025-04-24 16:09:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:53 [debug] Moves scheduled 48338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=14705
Sync err accum 61, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3036921631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:09:53 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17093, writes 0 timeouts 0
2025-04-24 16:09:53 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36315/37108
2025-04-24 16:09:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:53 [info] currentZPosition:0.138
2025-04-24 16:09:55 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:55 [debug] Diagnostics for board 50:
2025-04-24 16:09:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:00 ago, cause: software
2025-04-24 16:09:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:55 [debug] Moves scheduled 48342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3035820626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:09:55 [debug] Driver 0: pos -3572, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18418, writes 0 timeouts 0
2025-04-24 16:09:55 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36009/37107
2025-04-24 16:09:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9411, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:55 [info] currentZPosition:0.136
2025-04-24 16:09:55 [debug] Stopped at height 0.136 mm
2025-04-24 16:09:56 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:56 [debug] Diagnostics for board 50:
2025-04-24 16:09:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:01 ago, cause: software
2025-04-24 16:09:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:56 [debug] Moves scheduled 48348, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3034580051 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:09:56 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20822, writes 0 timeouts 0
2025-04-24 16:09:56 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36365/37130
2025-04-24 16:09:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9367, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:56 [info] currentZPosition:0.137
2025-04-24 16:09:58 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:58 [debug] Diagnostics for board 50:
2025-04-24 16:09:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:03 ago, cause: software
2025-04-24 16:09:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:58 [debug] Moves scheduled 48352, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 95, peak jitter 0/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 3033519061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:09:58 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17820, writes 0 timeouts 0
2025-04-24 16:09:58 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36028/37134
2025-04-24 16:09:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9361, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:58 [info] currentZPosition:0.137
2025-04-24 16:09:59 [debug] Stopped at height 0.137 mm
2025-04-24 16:09:59 [debug] Diagnostics for board 50:
2025-04-24 16:09:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:09:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:04 ago, cause: software
2025-04-24 16:09:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:09:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:09:59 [debug] Moves scheduled 48356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3032498719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:09:59 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17105, writes 0 timeouts 0
2025-04-24 16:09:59 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36332/37085
2025-04-24 16:09:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:09:59 [info] currentZPosition:0.137
2025-04-24 16:10:01 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:01 [debug] Diagnostics for board 50:
2025-04-24 16:10:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:05 ago, cause: software
2025-04-24 16:10:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:01 [debug] Moves scheduled 48360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3031455724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:10:01 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17498, writes 0 timeouts 0
2025-04-24 16:10:01 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36013/37164
2025-04-24 16:10:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:01 [info] currentZPosition:0.138
2025-04-24 16:10:02 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:02 [debug] Diagnostics for board 50:
2025-04-24 16:10:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:07 ago, cause: software
2025-04-24 16:10:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:02 [debug] Moves scheduled 48364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3030446229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:02 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17008, writes 0 timeouts 0
2025-04-24 16:10:02 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36394/37079
2025-04-24 16:10:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:02 [info] currentZPosition:0.138
2025-04-24 16:10:03 [debug] Stopped at height 0.137 mm
2025-04-24 16:10:03 [debug] Diagnostics for board 50:
2025-04-24 16:10:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:08 ago, cause: software
2025-04-24 16:10:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:03 [debug] Moves scheduled 48368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3029369008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:10:03 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18003, writes 0 timeouts 0
2025-04-24 16:10:03 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36032/37126
2025-04-24 16:10:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9357, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:03 [info] currentZPosition:0.137
2025-04-24 16:10:05 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:05 [debug] Diagnostics for board 50:
2025-04-24 16:10:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:12:10 ago, cause: software
2025-04-24 16:10:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:05 [debug] Moves scheduled 48372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3028356091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:10:05 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16996, writes 0 timeouts 0
2025-04-24 16:10:05 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36195/37137
2025-04-24 16:10:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:05 [info] currentZPosition:0.138
2025-04-24 16:10:06 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:06 [debug] Diagnostics for board 50:
2025-04-24 16:10:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:11 ago, cause: software
2025-04-24 16:10:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:06 [debug] Moves scheduled 48376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3027302771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:10:06 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17700, writes 0 timeouts 0
2025-04-24 16:10:06 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36073/37096
2025-04-24 16:10:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:06 [info] currentZPosition:0.138
2025-04-24 16:10:07 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:07 [debug] Diagnostics for board 50:
2025-04-24 16:10:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:12 ago, cause: software
2025-04-24 16:10:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:07 [debug] Moves scheduled 48380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 3026276640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:10:07 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17180, writes 0 timeouts 0
2025-04-24 16:10:07 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36047/37161
2025-04-24 16:10:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:08 [info] currentZPosition:0.138
2025-04-24 16:10:09 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:09 [debug] Diagnostics for board 50:
2025-04-24 16:10:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:14 ago, cause: software
2025-04-24 16:10:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:09 [debug] Moves scheduled 48384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3025223247 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:09 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17677, writes 0 timeouts 0
2025-04-24 16:10:09 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36077/37135
2025-04-24 16:10:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:09 [info] currentZPosition:0.138
2025-04-24 16:10:10 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:10 [debug] Diagnostics for board 50:
2025-04-24 16:10:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:12:15 ago, cause: software
2025-04-24 16:10:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:10 [debug] Moves scheduled 48388, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=10000, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3024190476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:10 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17363, writes 0 timeouts 0
2025-04-24 16:10:10 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36139/37150
2025-04-24 16:10:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:10 [info] currentZPosition:0.138
2025-04-24 16:10:12 [debug] Stopped at height 0.137 mm
2025-04-24 16:10:12 [debug] Diagnostics for board 50:
2025-04-24 16:10:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:12:17 ago, cause: software
2025-04-24 16:10:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:12 [debug] Moves scheduled 48392, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter 0/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3023116666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:10:12 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17987, writes 0 timeouts 0
2025-04-24 16:10:12 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36017/37125
2025-04-24 16:10:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:12 [info] currentZPosition:0.137
2025-04-24 16:10:13 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:13 [debug] Diagnostics for board 50:
2025-04-24 16:10:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:18 ago, cause: software
2025-04-24 16:10:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:13 [debug] Moves scheduled 48396, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3022139350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:10:13 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16406, writes 0 timeouts 0
2025-04-24 16:10:13 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36098/37122
2025-04-24 16:10:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:13 [info] currentZPosition:0.139
2025-04-24 16:10:13 [debug] Stopped at height 0.137 mm
2025-04-24 16:10:15 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:15 [debug] Diagnostics for board 50:
2025-04-24 16:10:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:20 ago, cause: software
2025-04-24 16:10:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:15 [debug] Moves scheduled 48402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 3020831764 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:10:15 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21971, writes 0 timeouts 0
2025-04-24 16:10:15 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36056/37167
2025-04-24 16:10:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:15 [info] currentZPosition:0.138
2025-04-24 16:10:16 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:16 [debug] Diagnostics for board 50:
2025-04-24 16:10:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:21 ago, cause: software
2025-04-24 16:10:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:16 [debug] Moves scheduled 48406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3019800339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:10:16 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17268, writes 0 timeouts 0
2025-04-24 16:10:16 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36147/37130
2025-04-24 16:10:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:16 [info] currentZPosition:0.138
2025-04-24 16:10:17 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:17 [debug] Diagnostics for board 50:
2025-04-24 16:10:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:22 ago, cause: software
2025-04-24 16:10:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:17 [debug] Moves scheduled 48410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3018761212 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:17 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17464, writes 0 timeouts 0
2025-04-24 16:10:17 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36026/37153
2025-04-24 16:10:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:18 [info] currentZPosition:0.139
2025-04-24 16:10:19 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:19 [debug] Diagnostics for board 50:
2025-04-24 16:10:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:24 ago, cause: software
2025-04-24 16:10:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:19 [debug] Moves scheduled 48414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3017746211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:10:19 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17036, writes 0 timeouts 0
2025-04-24 16:10:19 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36137/37096
2025-04-24 16:10:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9243, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:19 [info] currentZPosition:0.139
2025-04-24 16:10:20 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:20 [debug] Diagnostics for board 50:
2025-04-24 16:10:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:25 ago, cause: software
2025-04-24 16:10:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:20 [debug] Moves scheduled 48418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3016683667 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:20 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17803, writes 0 timeouts 0
2025-04-24 16:10:20 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 35991/37161
2025-04-24 16:10:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:20 [info] currentZPosition:0.139
2025-04-24 16:10:22 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:22 [debug] Diagnostics for board 50:
2025-04-24 16:10:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:27 ago, cause: software
2025-04-24 16:10:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:22 [debug] Moves scheduled 48422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3015650580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:10:22 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17326, writes 0 timeouts 0
2025-04-24 16:10:22 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 344, adv 36112/37158
2025-04-24 16:10:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:22 [info] currentZPosition:0.139
2025-04-24 16:10:23 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:23 [debug] Diagnostics for board 50:
2025-04-24 16:10:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:28 ago, cause: software
2025-04-24 16:10:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:23 [debug] Moves scheduled 48426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3014587740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:10:23 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17871, writes 0 timeouts 0
2025-04-24 16:10:23 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36042/37161
2025-04-24 16:10:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:23 [info] currentZPosition:0.139
2025-04-24 16:10:24 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:24 [debug] Diagnostics for board 50:
2025-04-24 16:10:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:29 ago, cause: software
2025-04-24 16:10:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:24 [debug] Moves scheduled 48430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3013571914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:10:24 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17020, writes 0 timeouts 0
2025-04-24 16:10:24 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36088/37164
2025-04-24 16:10:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:24 [info] currentZPosition:0.139
2025-04-24 16:10:26 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:26 [debug] Diagnostics for board 50:
2025-04-24 16:10:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:31 ago, cause: software
2025-04-24 16:10:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:26 [debug] Moves scheduled 48434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3012510649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:26 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17811, writes 0 timeouts 0
2025-04-24 16:10:26 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36036/37150
2025-04-24 16:10:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:26 [info] currentZPosition:0.139
2025-04-24 16:10:27 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:27 [debug] Diagnostics for board 50:
2025-04-24 16:10:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:32 ago, cause: software
2025-04-24 16:10:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:27 [debug] Moves scheduled 48438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 3011473984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:10:27 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17444, writes 0 timeouts 0
2025-04-24 16:10:27 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 349, adv 36096/37159
2025-04-24 16:10:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:27 [info] currentZPosition:0.138
2025-04-24 16:10:29 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:29 [debug] Diagnostics for board 50:
2025-04-24 16:10:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:33 ago, cause: software
2025-04-24 16:10:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:29 [debug] Moves scheduled 48442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3010429534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:10:29 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17483, writes 0 timeouts 0
2025-04-24 16:10:29 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35999/37149
2025-04-24 16:10:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:29 [info] currentZPosition:0.139
2025-04-24 16:10:30 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:30 [debug] Diagnostics for board 50:
2025-04-24 16:10:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:35 ago, cause: software
2025-04-24 16:10:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:30 [debug] Moves scheduled 48446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 3009407613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:10:30 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17143, writes 0 timeouts 0
2025-04-24 16:10:30 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36063/37092
2025-04-24 16:10:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:30 [info] currentZPosition:0.138
2025-04-24 16:10:31 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:31 [debug] Diagnostics for board 50:
2025-04-24 16:10:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:12:36 ago, cause: software
2025-04-24 16:10:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:31 [debug] Moves scheduled 48450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 3008343537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:10:31 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17855, writes 0 timeouts 0
2025-04-24 16:10:31 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35989/37162
2025-04-24 16:10:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:31 [info] currentZPosition:0.138
2025-04-24 16:10:33 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:33 [debug] Diagnostics for board 50:
2025-04-24 16:10:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:38 ago, cause: software
2025-04-24 16:10:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:33 [debug] Moves scheduled 48454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3007335366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:10:33 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16927, writes 0 timeouts 0
2025-04-24 16:10:33 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 432, adv 36016/37097
2025-04-24 16:10:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:33 [info] currentZPosition:0.139
2025-04-24 16:10:34 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:34 [debug] Diagnostics for board 50:
2025-04-24 16:10:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:39 ago, cause: software
2025-04-24 16:10:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:34 [debug] Moves scheduled 48458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3006279976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:10:34 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17691, writes 0 timeouts 0
2025-04-24 16:10:34 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36006/37100
2025-04-24 16:10:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:34 [info] currentZPosition:0.139
2025-04-24 16:10:35 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:35 [debug] Diagnostics for board 50:
2025-04-24 16:10:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:40 ago, cause: software
2025-04-24 16:10:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:35 [debug] Moves scheduled 48462, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3005243753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:35 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17398, writes 0 timeouts 0
2025-04-24 16:10:35 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36101/37161
2025-04-24 16:10:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:36 [info] currentZPosition:0.138
2025-04-24 16:10:37 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:37 [debug] Diagnostics for board 50:
2025-04-24 16:10:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:12:42 ago, cause: software
2025-04-24 16:10:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:37 [debug] Moves scheduled 48466, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3004177649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:10:37 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17876, writes 0 timeouts 0
2025-04-24 16:10:37 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36023/37129
2025-04-24 16:10:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:37 [info] currentZPosition:0.138
2025-04-24 16:10:38 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:38 [debug] Diagnostics for board 50:
2025-04-24 16:10:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:43 ago, cause: software
2025-04-24 16:10:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:38 [debug] Moves scheduled 48470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 3003170808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:10:38 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16900, writes 0 timeouts 0
2025-04-24 16:10:38 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36071/37155
2025-04-24 16:10:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:38 [info] currentZPosition:0.139
2025-04-24 16:10:40 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:40 [debug] Diagnostics for board 50:
2025-04-24 16:10:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:45 ago, cause: software
2025-04-24 16:10:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:40 [debug] Moves scheduled 48474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3002112308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:40 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17760, writes 0 timeouts 0
2025-04-24 16:10:40 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36028/37112
2025-04-24 16:10:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:40 [info] currentZPosition:0.138
2025-04-24 16:10:41 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:41 [debug] Diagnostics for board 50:
2025-04-24 16:10:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:46 ago, cause: software
2025-04-24 16:10:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:41 [debug] Moves scheduled 48478, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 75, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 3001099827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:41 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16998, writes 0 timeouts 0
2025-04-24 16:10:41 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36099/37141
2025-04-24 16:10:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:41 [info] currentZPosition:0.139
2025-04-24 16:10:42 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:42 [debug] Diagnostics for board 50:
2025-04-24 16:10:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:47 ago, cause: software
2025-04-24 16:10:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:42 [debug] Moves scheduled 48482, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 3000022158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:10:42 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18077, writes 0 timeouts 0
2025-04-24 16:10:42 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36031/37123
2025-04-24 16:10:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:43 [info] currentZPosition:0.138
2025-04-24 16:10:44 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:44 [debug] Diagnostics for board 50:
2025-04-24 16:10:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:49 ago, cause: software
2025-04-24 16:10:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:44 [debug] Moves scheduled 48486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2999018228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:10:44 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16843, writes 0 timeouts 0
2025-04-24 16:10:44 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36068/37095
2025-04-24 16:10:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:44 [info] currentZPosition:0.139
2025-04-24 16:10:45 [debug] Stopped at height 0.137 mm
2025-04-24 16:10:45 [debug] Diagnostics for board 50:
2025-04-24 16:10:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:50 ago, cause: software
2025-04-24 16:10:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:45 [debug] Moves scheduled 48490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 85, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2997938200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:10:45 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18116, writes 0 timeouts 0
2025-04-24 16:10:45 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36048/37076
2025-04-24 16:10:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9417, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:45 [info] currentZPosition:0.137
2025-04-24 16:10:46 [debug] Stopped at height 0.136 mm
2025-04-24 16:10:47 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:47 [debug] Diagnostics for board 50:
2025-04-24 16:10:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:52 ago, cause: software
2025-04-24 16:10:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:47 [debug] Moves scheduled 48496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=14705
Sync err accum 98, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2996699052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:10:47 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20804, writes 0 timeouts 0
2025-04-24 16:10:47 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36059/37127
2025-04-24 16:10:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:47 [info] currentZPosition:0.139
2025-04-24 16:10:47 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:49 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:49 [debug] Diagnostics for board 50:
2025-04-24 16:10:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:12:54 ago, cause: software
2025-04-24 16:10:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:49 [debug] Moves scheduled 48502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 105, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2995412936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:10:49 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21591, writes 0 timeouts 0
2025-04-24 16:10:49 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36016/37108
2025-04-24 16:10:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:49 [info] currentZPosition:0.139
2025-04-24 16:10:49 [debug] Stopped at height 0.137 mm
2025-04-24 16:10:49 [debug] Stopped at height 0.136 mm
2025-04-24 16:10:51 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:51 [debug] Diagnostics for board 50:
2025-04-24 16:10:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:56 ago, cause: software
2025-04-24 16:10:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:51 [debug] Moves scheduled 48510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2993895133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:10:51 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25492, writes 0 timeouts 0
2025-04-24 16:10:51 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36063/37126
2025-04-24 16:10:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:51 [info] currentZPosition:0.139
2025-04-24 16:10:51 [debug] Stopped at height 0.137 mm
2025-04-24 16:10:52 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:52 [debug] Diagnostics for board 50:
2025-04-24 16:10:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:12:57 ago, cause: software
2025-04-24 16:10:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:52 [debug] Moves scheduled 48516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 109, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2992578183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:10:52 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22062, writes 0 timeouts 0
2025-04-24 16:10:52 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36026/37137
2025-04-24 16:10:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9411, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:52 [info] currentZPosition:0.138
2025-04-24 16:10:54 [debug] Stopped at height 0.139 mm
2025-04-24 16:10:54 [debug] Diagnostics for board 50:
2025-04-24 16:10:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:12:59 ago, cause: software
2025-04-24 16:10:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:54 [debug] Moves scheduled 48520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 104, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2991587445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:54 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16635, writes 0 timeouts 0
2025-04-24 16:10:54 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36103/37087
2025-04-24 16:10:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:54 [info] currentZPosition:0.139
2025-04-24 16:10:54 [debug] Stopped at height 0.137 mm
2025-04-24 16:10:55 [debug] Stopped at height 0.140 mm
2025-04-24 16:10:55 [debug] Diagnostics for board 50:
2025-04-24 16:10:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:00 ago, cause: software
2025-04-24 16:10:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:55 [debug] Moves scheduled 48526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2990317439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:10:55 [debug] Driver 0: pos -3542, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21312, writes 0 timeouts 0
2025-04-24 16:10:55 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 35997/37103
2025-04-24 16:10:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9267, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:55 [info] currentZPosition:0.140
2025-04-24 16:10:56 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:57 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:57 [debug] Diagnostics for board 50:
2025-04-24 16:10:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:02 ago, cause: software
2025-04-24 16:10:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:57 [debug] Moves scheduled 48532, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2989020373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:10:57 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21755, writes 0 timeouts 0
2025-04-24 16:10:57 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36098/37131
2025-04-24 16:10:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9389, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:57 [info] currentZPosition:0.138
2025-04-24 16:10:59 [debug] Stopped at height 0.138 mm
2025-04-24 16:10:59 [debug] Diagnostics for board 50:
2025-04-24 16:10:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:10:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:03 ago, cause: software
2025-04-24 16:10:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:10:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:10:59 [debug] Moves scheduled 48536, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2987971242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:10:59 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17610, writes 0 timeouts 0
2025-04-24 16:10:59 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36007/37147
2025-04-24 16:10:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9362, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:10:59 [info] currentZPosition:0.138
2025-04-24 16:11:00 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:00 [debug] Diagnostics for board 50:
2025-04-24 16:11:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:05 ago, cause: software
2025-04-24 16:11:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:00 [debug] Moves scheduled 48540, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -2/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2986970314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:11:00 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16796, writes 0 timeouts 0
2025-04-24 16:11:00 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36176/37168
2025-04-24 16:11:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:00 [info] currentZPosition:0.139
2025-04-24 16:11:01 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:01 [debug] Diagnostics for board 50:
2025-04-24 16:11:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:06 ago, cause: software
2025-04-24 16:11:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:01 [debug] Moves scheduled 48544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2985887642 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:01 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18170, writes 0 timeouts 0
2025-04-24 16:11:01 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36075/37116
2025-04-24 16:11:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9367, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:01 [info] currentZPosition:0.138
2025-04-24 16:11:03 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:03 [debug] Diagnostics for board 50:
2025-04-24 16:11:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:08 ago, cause: software
2025-04-24 16:11:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:03 [debug] Moves scheduled 48548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2984866630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:11:03 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17131, writes 0 timeouts 0
2025-04-24 16:11:03 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36310/37163
2025-04-24 16:11:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:03 [info] currentZPosition:0.138
2025-04-24 16:11:04 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:04 [debug] Diagnostics for board 50:
2025-04-24 16:11:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:09 ago, cause: software
2025-04-24 16:11:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:04 [debug] Moves scheduled 48552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2983834450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:04 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17337, writes 0 timeouts 0
2025-04-24 16:11:04 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36051/37120
2025-04-24 16:11:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:04 [info] currentZPosition:0.140
2025-04-24 16:11:05 [debug] Stopped at height 0.137 mm
2025-04-24 16:11:05 [debug] Diagnostics for board 50:
2025-04-24 16:11:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:10 ago, cause: software
2025-04-24 16:11:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:05 [debug] Moves scheduled 48556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2982765487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:05 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17929, writes 0 timeouts 0
2025-04-24 16:11:05 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36346/37105
2025-04-24 16:11:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:06 [info] currentZPosition:0.137
2025-04-24 16:11:06 [debug] Stopped at height 0.136 mm
2025-04-24 16:11:07 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:07 [debug] Diagnostics for board 50:
2025-04-24 16:11:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:12 ago, cause: software
2025-04-24 16:11:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:07 [debug] Moves scheduled 48562, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2981493791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:07 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21348, writes 0 timeouts 0
2025-04-24 16:11:07 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36104/37154
2025-04-24 16:11:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9351, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:07 [info] currentZPosition:0.139
2025-04-24 16:11:08 [debug] Stopped at height 0.137 mm
2025-04-24 16:11:09 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:09 [debug] Diagnostics for board 50:
2025-04-24 16:11:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:14 ago, cause: software
2025-04-24 16:11:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:09 [debug] Moves scheduled 48568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2980232662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:11:09 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21183, writes 0 timeouts 0
2025-04-24 16:11:09 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36365/37125
2025-04-24 16:11:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:09 [info] currentZPosition:0.139
2025-04-24 16:11:09 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:11 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:11 [debug] Diagnostics for board 50:
2025-04-24 16:11:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:15 ago, cause: software
2025-04-24 16:11:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:11 [debug] Moves scheduled 48574, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2978952185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:11:11 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21450, writes 0 timeouts 0
2025-04-24 16:11:11 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36024/37114
2025-04-24 16:11:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:11 [info] currentZPosition:0.139
2025-04-24 16:11:11 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:12 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:12 [debug] Diagnostics for board 50:
2025-04-24 16:11:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:17 ago, cause: software
2025-04-24 16:11:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:12 [debug] Moves scheduled 48580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 95, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2977669070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:11:12 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21516, writes 0 timeouts 0
2025-04-24 16:11:12 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36329/37098
2025-04-24 16:11:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9423, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:12 [info] currentZPosition:0.138
2025-04-24 16:11:14 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:14 [debug] Diagnostics for board 50:
2025-04-24 16:11:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:13:19 ago, cause: software
2025-04-24 16:11:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:14 [debug] Moves scheduled 48584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 82, peak jitter -3/-1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2976640243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:11:14 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17306, writes 0 timeouts 0
2025-04-24 16:11:14 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36026/37148
2025-04-24 16:11:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:14 [info] currentZPosition:0.139
2025-04-24 16:11:14 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:15 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:15 [debug] Diagnostics for board 50:
2025-04-24 16:11:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:20 ago, cause: software
2025-04-24 16:11:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:15 [debug] Moves scheduled 48590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2975385066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:11:15 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21039, writes 0 timeouts 0
2025-04-24 16:11:15 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36273/37113
2025-04-24 16:11:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9312, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:15 [info] currentZPosition:0.140
2025-04-24 16:11:16 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:17 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:17 [debug] Diagnostics for board 50:
2025-04-24 16:11:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:22 ago, cause: software
2025-04-24 16:11:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:17 [debug] Moves scheduled 48596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -3/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2974088749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:11:17 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21745, writes 0 timeouts 0
2025-04-24 16:11:17 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36037/37113
2025-04-24 16:11:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:17 [info] currentZPosition:0.139
2025-04-24 16:11:17 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:19 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:19 [debug] Diagnostics for board 50:
2025-04-24 16:11:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:24 ago, cause: software
2025-04-24 16:11:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:19 [debug] Moves scheduled 48602, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 0/2, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2972834450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:19 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21080, writes 0 timeouts 0
2025-04-24 16:11:19 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36304/37105
2025-04-24 16:11:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 834
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:19 [info] currentZPosition:0.140
2025-04-24 16:11:19 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:20 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:20 [debug] Diagnostics for board 50:
2025-04-24 16:11:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:25 ago, cause: software
2025-04-24 16:11:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:20 [debug] Moves scheduled 48608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2971534805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:20 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21793, writes 0 timeouts 0
2025-04-24 16:11:20 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36087/37167
2025-04-24 16:11:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:21 [info] currentZPosition:0.139
2025-04-24 16:11:22 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:22 [debug] Diagnostics for board 50:
2025-04-24 16:11:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:27 ago, cause: software
2025-04-24 16:11:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:22 [debug] Moves scheduled 48612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 80, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2970500822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:22 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17348, writes 0 timeouts 0
2025-04-24 16:11:22 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36345/37161
2025-04-24 16:11:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:22 [info] currentZPosition:0.139
2025-04-24 16:11:23 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:23 [debug] Diagnostics for board 50:
2025-04-24 16:11:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:28 ago, cause: software
2025-04-24 16:11:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:23 [debug] Moves scheduled 48616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2969461517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:23 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17442, writes 0 timeouts 0
2025-04-24 16:11:23 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36045/37141
2025-04-24 16:11:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:23 [info] currentZPosition:0.140
2025-04-24 16:11:25 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:25 [debug] Diagnostics for board 50:
2025-04-24 16:11:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:29 ago, cause: software
2025-04-24 16:11:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:25 [debug] Moves scheduled 48620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2968421214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:11:25 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17449, writes 0 timeouts 0
2025-04-24 16:11:25 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36369/37143
2025-04-24 16:11:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:25 [info] currentZPosition:0.139
2025-04-24 16:11:26 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:26 [debug] Diagnostics for board 50:
2025-04-24 16:11:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:31 ago, cause: software
2025-04-24 16:11:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:26 [debug] Moves scheduled 48624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2967369229 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:26 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17655, writes 0 timeouts 0
2025-04-24 16:11:26 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36047/37076
2025-04-24 16:11:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:26 [info] currentZPosition:0.139
2025-04-24 16:11:27 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:27 [debug] Diagnostics for board 50:
2025-04-24 16:11:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:13:32 ago, cause: software
2025-04-24 16:11:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:27 [debug] Moves scheduled 48628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9259, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2966347781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:27 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17139, writes 0 timeouts 0
2025-04-24 16:11:27 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 409, adv 36360/37118
2025-04-24 16:11:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:27 [info] currentZPosition:0.140
2025-04-24 16:11:29 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:29 [debug] Diagnostics for board 50:
2025-04-24 16:11:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:34 ago, cause: software
2025-04-24 16:11:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:29 [debug] Moves scheduled 48632, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2965290645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:29 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17726, writes 0 timeouts 0
2025-04-24 16:11:29 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36040/37123
2025-04-24 16:11:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:29 [info] currentZPosition:0.139
2025-04-24 16:11:30 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:30 [debug] Diagnostics for board 50:
2025-04-24 16:11:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:35 ago, cause: software
2025-04-24 16:11:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:30 [debug] Moves scheduled 48636, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2964273618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:30 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17087, writes 0 timeouts 0
2025-04-24 16:11:30 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36363/37085
2025-04-24 16:11:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:30 [info] currentZPosition:0.140
2025-04-24 16:11:32 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:32 [debug] Diagnostics for board 50:
2025-04-24 16:11:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:36 ago, cause: software
2025-04-24 16:11:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:32 [debug] Moves scheduled 48640, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2963203874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:32 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17935, writes 0 timeouts 0
2025-04-24 16:11:32 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 343, adv 36052/37148
2025-04-24 16:11:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:32 [info] currentZPosition:0.139
2025-04-24 16:11:33 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:33 [debug] Diagnostics for board 50:
2025-04-24 16:11:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:38 ago, cause: software
2025-04-24 16:11:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:33 [debug] Moves scheduled 48644, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2962188673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:33 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17023, writes 0 timeouts 0
2025-04-24 16:11:33 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36397/37120
2025-04-24 16:11:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:33 [info] currentZPosition:0.139
2025-04-24 16:11:34 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:34 [debug] Diagnostics for board 50:
2025-04-24 16:11:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:39 ago, cause: software
2025-04-24 16:11:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:34 [debug] Moves scheduled 48648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2961127895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:34 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17807, writes 0 timeouts 0
2025-04-24 16:11:34 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36009/37131
2025-04-24 16:11:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:34 [info] currentZPosition:0.139
2025-04-24 16:11:36 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:36 [debug] Diagnostics for board 50:
2025-04-24 16:11:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:41 ago, cause: software
2025-04-24 16:11:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:36 [debug] Moves scheduled 48652, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2960128335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:36 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16775, writes 0 timeouts 0
2025-04-24 16:11:36 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36320/37091
2025-04-24 16:11:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:36 [info] currentZPosition:0.140
2025-04-24 16:11:36 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:37 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:37 [debug] Diagnostics for board 50:
2025-04-24 16:11:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:42 ago, cause: software
2025-04-24 16:11:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:37 [debug] Moves scheduled 48658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2958833278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:37 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21724, writes 0 timeouts 0
2025-04-24 16:11:37 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36009/37148
2025-04-24 16:11:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:37 [info] currentZPosition:0.140
2025-04-24 16:11:38 [debug] Stopped at height 0.137 mm
2025-04-24 16:11:38 [debug] Stopped at height 0.137 mm
2025-04-24 16:11:39 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:39 [debug] Diagnostics for board 50:
2025-04-24 16:11:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:44 ago, cause: software
2025-04-24 16:11:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:39 [debug] Moves scheduled 48666, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2957311439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:11:39 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25545, writes 0 timeouts 0
2025-04-24 16:11:39 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36298/37128
2025-04-24 16:11:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:39 [info] currentZPosition:0.140
2025-04-24 16:11:40 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:41 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:41 [debug] Diagnostics for board 50:
2025-04-24 16:11:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:46 ago, cause: software
2025-04-24 16:11:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:41 [debug] Moves scheduled 48672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2956013338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:41 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21814, writes 0 timeouts 0
2025-04-24 16:11:41 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36025/37159
2025-04-24 16:11:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:41 [info] currentZPosition:0.139
2025-04-24 16:11:42 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:42 [debug] Diagnostics for board 50:
2025-04-24 16:11:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:47 ago, cause: software
2025-04-24 16:11:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:42 [debug] Moves scheduled 48676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2954999616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:42 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16986, writes 0 timeouts 0
2025-04-24 16:11:42 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36337/37103
2025-04-24 16:11:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:43 [info] currentZPosition:0.140
2025-04-24 16:11:44 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:44 [debug] Diagnostics for board 50:
2025-04-24 16:11:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:49 ago, cause: software
2025-04-24 16:11:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:44 [debug] Moves scheduled 48680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2953917864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:11:44 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18145, writes 0 timeouts 0
2025-04-24 16:11:44 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36021/37142
2025-04-24 16:11:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9389, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:44 [info] currentZPosition:0.139
2025-04-24 16:11:44 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:46 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:46 [debug] Diagnostics for board 50:
2025-04-24 16:11:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:50 ago, cause: software
2025-04-24 16:11:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:46 [debug] Moves scheduled 48686, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2952676013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:46 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20838, writes 0 timeouts 0
2025-04-24 16:11:46 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36305/37121
2025-04-24 16:11:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:46 [info] currentZPosition:0.140
2025-04-24 16:11:47 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:47 [debug] Diagnostics for board 50:
2025-04-24 16:11:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:52 ago, cause: software
2025-04-24 16:11:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:47 [debug] Moves scheduled 48690, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2951623789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:11:47 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17667, writes 0 timeouts 0
2025-04-24 16:11:47 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36109/37139
2025-04-24 16:11:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9292, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:47 [info] currentZPosition:0.140
2025-04-24 16:11:48 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:48 [debug] Diagnostics for board 50:
2025-04-24 16:11:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:53 ago, cause: software
2025-04-24 16:11:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:48 [debug] Moves scheduled 48694, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 66, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2950588835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:48 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17369, writes 0 timeouts 0
2025-04-24 16:11:48 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36346/37091
2025-04-24 16:11:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9370, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:48 [info] currentZPosition:0.139
2025-04-24 16:11:50 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:50 [debug] Diagnostics for board 50:
2025-04-24 16:11:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:55 ago, cause: software
2025-04-24 16:11:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:50 [debug] Moves scheduled 48698, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=8823, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2949532189 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:50 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17734, writes 0 timeouts 0
2025-04-24 16:11:50 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36057/37089
2025-04-24 16:11:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9351, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:50 [info] currentZPosition:0.139
2025-04-24 16:11:51 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:51 [debug] Diagnostics for board 50:
2025-04-24 16:11:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:13:56 ago, cause: software
2025-04-24 16:11:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:51 [debug] Moves scheduled 48702, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2948506540 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:51 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17199, writes 0 timeouts 0
2025-04-24 16:11:51 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36331/37151
2025-04-24 16:11:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:51 [info] currentZPosition:0.139
2025-04-24 16:11:53 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:53 [debug] Diagnostics for board 50:
2025-04-24 16:11:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:13:57 ago, cause: software
2025-04-24 16:11:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:53 [debug] Moves scheduled 48706, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 73, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2947444320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:53 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17840, writes 0 timeouts 0
2025-04-24 16:11:53 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36009/37164
2025-04-24 16:11:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9346, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:53 [info] currentZPosition:0.139
2025-04-24 16:11:54 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:54 [debug] Diagnostics for board 50:
2025-04-24 16:11:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:13:59 ago, cause: software
2025-04-24 16:11:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:54 [debug] Moves scheduled 48710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2946424931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:11:54 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17103, writes 0 timeouts 0
2025-04-24 16:11:54 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36353/37123
2025-04-24 16:11:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:54 [info] currentZPosition:0.139
2025-04-24 16:11:55 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:55 [debug] Diagnostics for board 50:
2025-04-24 16:11:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:00 ago, cause: software
2025-04-24 16:11:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:55 [debug] Moves scheduled 48714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2945359108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:11:55 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17882, writes 0 timeouts 0
2025-04-24 16:11:55 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 35996/37134
2025-04-24 16:11:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:55 [info] currentZPosition:0.139
2025-04-24 16:11:57 [debug] Stopped at height 0.140 mm
2025-04-24 16:11:57 [debug] Diagnostics for board 50:
2025-04-24 16:11:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:02 ago, cause: software
2025-04-24 16:11:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:57 [debug] Moves scheduled 48718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2944369110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:11:57 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16623, writes 0 timeouts 0
2025-04-24 16:11:57 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36233/37141
2025-04-24 16:11:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:57 [info] currentZPosition:0.140
2025-04-24 16:11:57 [debug] Stopped at height 0.138 mm
2025-04-24 16:11:58 [debug] Stopped at height 0.139 mm
2025-04-24 16:11:58 [debug] Diagnostics for board 50:
2025-04-24 16:11:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:11:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:03 ago, cause: software
2025-04-24 16:11:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:11:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:11:58 [debug] Moves scheduled 48724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2943062000 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:11:58 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21913, writes 0 timeouts 0
2025-04-24 16:11:58 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36021/37152
2025-04-24 16:11:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:11:58 [info] currentZPosition:0.139
2025-04-24 16:12:00 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:00 [debug] Diagnostics for board 50:
2025-04-24 16:12:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:05 ago, cause: software
2025-04-24 16:12:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:00 [debug] Moves scheduled 48728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2942040437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:00 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17145, writes 0 timeouts 0
2025-04-24 16:12:00 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36084/37102
2025-04-24 16:12:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:00 [info] currentZPosition:0.139
2025-04-24 16:12:01 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:01 [debug] Diagnostics for board 50:
2025-04-24 16:12:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:06 ago, cause: software
2025-04-24 16:12:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:01 [debug] Moves scheduled 48732, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2940994894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:12:01 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17536, writes 0 timeouts 0
2025-04-24 16:12:01 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36010/37131
2025-04-24 16:12:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:01 [info] currentZPosition:0.140
2025-04-24 16:12:03 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:03 [debug] Diagnostics for board 50:
2025-04-24 16:12:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:07 ago, cause: software
2025-04-24 16:12:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:03 [debug] Moves scheduled 48736, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 2939957925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:12:03 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17398, writes 0 timeouts 0
2025-04-24 16:12:03 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 334, adv 36112/37165
2025-04-24 16:12:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9359, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:03 [info] currentZPosition:0.139
2025-04-24 16:12:04 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:04 [debug] Diagnostics for board 50:
2025-04-24 16:12:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:09 ago, cause: software
2025-04-24 16:12:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:04 [debug] Moves scheduled 48740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2938907613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:12:04 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17642, writes 0 timeouts 0
2025-04-24 16:12:04 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36086/37150
2025-04-24 16:12:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:04 [info] currentZPosition:0.139
2025-04-24 16:12:05 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:05 [debug] Diagnostics for board 50:
2025-04-24 16:12:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:10 ago, cause: software
2025-04-24 16:12:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:05 [debug] Moves scheduled 48744, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=10000, max=15000
Sync err accum 83, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2937903223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:12:05 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16827, writes 0 timeouts 0
2025-04-24 16:12:05 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36113/37119
2025-04-24 16:12:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:05 [info] currentZPosition:0.140
2025-04-24 16:12:07 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:07 [debug] Diagnostics for board 50:
2025-04-24 16:12:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:12 ago, cause: software
2025-04-24 16:12:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:07 [debug] Moves scheduled 48748, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2936837970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:07 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17881, writes 0 timeouts 0
2025-04-24 16:12:07 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36036/37124
2025-04-24 16:12:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:07 [info] currentZPosition:0.140
2025-04-24 16:12:08 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:08 [debug] Diagnostics for board 50:
2025-04-24 16:12:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:13 ago, cause: software
2025-04-24 16:12:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:08 [debug] Moves scheduled 48752, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2935814133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:12:08 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17204, writes 0 timeouts 0
2025-04-24 16:12:08 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36081/37162
2025-04-24 16:12:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:08 [info] currentZPosition:0.140
2025-04-24 16:12:09 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:09 [debug] Diagnostics for board 50:
2025-04-24 16:12:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:14 ago, cause: software
2025-04-24 16:12:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:09 [debug] Moves scheduled 48756, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 68, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2934745164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:09 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17915, writes 0 timeouts 0
2025-04-24 16:12:09 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36021/37112
2025-04-24 16:12:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:10 [info] currentZPosition:0.140
2025-04-24 16:12:11 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:11 [debug] Diagnostics for board 50:
2025-04-24 16:12:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:14:16 ago, cause: software
2025-04-24 16:12:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:11 [debug] Moves scheduled 48760, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 64, peak jitter -2/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2933739757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:11 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16871, writes 0 timeouts 0
2025-04-24 16:12:11 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36079/37122
2025-04-24 16:12:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9258, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:11 [info] currentZPosition:0.141
2025-04-24 16:12:12 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:12 [debug] Diagnostics for board 50:
2025-04-24 16:12:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:17 ago, cause: software
2025-04-24 16:12:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:12 [debug] Moves scheduled 48764, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 69, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2932679277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:12 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17816, writes 0 timeouts 0
2025-04-24 16:12:12 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36093/37101
2025-04-24 16:12:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:12 [info] currentZPosition:0.140
2025-04-24 16:12:14 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:14 [debug] Diagnostics for board 50:
2025-04-24 16:12:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:14:19 ago, cause: software
2025-04-24 16:12:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:14 [debug] Moves scheduled 48768, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=8928, max=15000
Sync err accum 73, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2931635367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:14 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17505, writes 0 timeouts 0
2025-04-24 16:12:14 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36081/37160
2025-04-24 16:12:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9394, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:14 [info] currentZPosition:0.139
2025-04-24 16:12:14 [debug] Stopped at height 0.138 mm
2025-04-24 16:12:15 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:15 [debug] Diagnostics for board 50:
2025-04-24 16:12:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:20 ago, cause: software
2025-04-24 16:12:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:15 [debug] Moves scheduled 48774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 72, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2930352161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:12:15 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21515, writes 0 timeouts 0
2025-04-24 16:12:15 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36013/37161
2025-04-24 16:12:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:15 [info] currentZPosition:0.140
2025-04-24 16:12:16 [debug] Stopped at height 0.138 mm
2025-04-24 16:12:17 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:17 [debug] Diagnostics for board 50:
2025-04-24 16:12:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:22 ago, cause: software
2025-04-24 16:12:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:17 [debug] Moves scheduled 48780, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2929075191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:17 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21440, writes 0 timeouts 0
2025-04-24 16:12:17 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36086/37136
2025-04-24 16:12:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9394, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:17 [info] currentZPosition:0.139
2025-04-24 16:12:18 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:18 [debug] Diagnostics for board 50:
2025-04-24 16:12:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:23 ago, cause: software
2025-04-24 16:12:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:18 [debug] Moves scheduled 48784, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2928045974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:12:18 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17246, writes 0 timeouts 0
2025-04-24 16:12:18 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36032/37126
2025-04-24 16:12:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:19 [info] currentZPosition:0.140
2025-04-24 16:12:19 [debug] Stopped at height 0.138 mm
2025-04-24 16:12:20 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:20 [debug] Diagnostics for board 50:
2025-04-24 16:12:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:25 ago, cause: software
2025-04-24 16:12:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:20 [debug] Moves scheduled 48790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2926799502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:20 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20929, writes 0 timeouts 0
2025-04-24 16:12:20 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36058/37140
2025-04-24 16:12:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:20 [info] currentZPosition:0.141
2025-04-24 16:12:21 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:22 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:22 [debug] Diagnostics for board 50:
2025-04-24 16:12:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:27 ago, cause: software
2025-04-24 16:12:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:22 [debug] Moves scheduled 48796, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2925501989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:22 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21806, writes 0 timeouts 0
2025-04-24 16:12:22 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36011/37114
2025-04-24 16:12:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:22 [info] currentZPosition:0.140
2025-04-24 16:12:23 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:23 [debug] Diagnostics for board 50:
2025-04-24 16:12:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:28 ago, cause: software
2025-04-24 16:12:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:23 [debug] Moves scheduled 48800, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2924460848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:23 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17447, writes 0 timeouts 0
2025-04-24 16:12:23 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36064/37098
2025-04-24 16:12:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:23 [info] currentZPosition:0.139
2025-04-24 16:12:25 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:25 [debug] Diagnostics for board 50:
2025-04-24 16:12:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:30 ago, cause: software
2025-04-24 16:12:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:25 [debug] Moves scheduled 48804, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2923414556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:25 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17560, writes 0 timeouts 0
2025-04-24 16:12:25 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36042/37138
2025-04-24 16:12:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:25 [info] currentZPosition:0.140
2025-04-24 16:12:26 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:26 [debug] Diagnostics for board 50:
2025-04-24 16:12:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:31 ago, cause: software
2025-04-24 16:12:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:26 [debug] Moves scheduled 48808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2922412755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:26 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19416, writes 0 timeouts 0
2025-04-24 16:12:26 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36108/37118
2025-04-24 16:12:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:26 [info] currentZPosition:0.141
2025-04-24 16:12:28 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:28 [debug] Diagnostics for board 50:
2025-04-24 16:12:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:33 ago, cause: software
2025-04-24 16:12:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:28 [debug] Moves scheduled 48812, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2920426068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:28 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 32213, writes 0 timeouts 0
2025-04-24 16:12:28 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 65, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36038/37116
2025-04-24 16:12:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:29 [info] currentZPosition:0.140
2025-04-24 16:12:30 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:30 [debug] Diagnostics for board 50:
2025-04-24 16:12:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:35 ago, cause: software
2025-04-24 16:12:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:30 [debug] Moves scheduled 48816, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2919199228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:30 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 19145, writes 0 timeouts 0
2025-04-24 16:12:30 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36109/37082
2025-04-24 16:12:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9377, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:30 [info] currentZPosition:0.140
2025-04-24 16:12:32 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:32 [debug] Diagnostics for board 50:
2025-04-24 16:12:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:37 ago, cause: software
2025-04-24 16:12:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:32 [debug] Moves scheduled 48820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2918130178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:32 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17925, writes 0 timeouts 0
2025-04-24 16:12:32 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36005/37156
2025-04-24 16:12:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:32 [info] currentZPosition:0.139
2025-04-24 16:12:33 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:33 [debug] Diagnostics for board 50:
2025-04-24 16:12:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:38 ago, cause: software
2025-04-24 16:12:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:33 [debug] Moves scheduled 48824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9868, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2917136205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.6C, max 
2025-04-24 16:12:33 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16702, writes 0 timeouts 0
2025-04-24 16:12:33 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36069/37105
2025-04-24 16:12:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:33 [info] currentZPosition:0.141
2025-04-24 16:12:33 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:35 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:35 [debug] Diagnostics for board 50:
2025-04-24 16:12:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:40 ago, cause: software
2025-04-24 16:12:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:35 [debug] Moves scheduled 48830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 79, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2915842253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:12:35 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21690, writes 0 timeouts 0
2025-04-24 16:12:35 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36022/37153
2025-04-24 16:12:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9354, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:35 [info] currentZPosition:0.140
2025-04-24 16:12:35 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:36 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:36 [debug] Diagnostics for board 50:
2025-04-24 16:12:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:41 ago, cause: software
2025-04-24 16:12:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:36 [debug] Moves scheduled 48836, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 96, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2914585200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:12:36 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21096, writes 0 timeouts 0
2025-04-24 16:12:36 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36105/37150
2025-04-24 16:12:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:36 [info] currentZPosition:0.140
2025-04-24 16:12:38 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:38 [debug] Diagnostics for board 50:
2025-04-24 16:12:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:43 ago, cause: software
2025-04-24 16:12:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:38 [debug] Moves scheduled 48840, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2913538772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:38 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17566, writes 0 timeouts 0
2025-04-24 16:12:38 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36019/37135
2025-04-24 16:12:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:38 [info] currentZPosition:0.141
2025-04-24 16:12:39 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:39 [debug] Diagnostics for board 50:
2025-04-24 16:12:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:44 ago, cause: software
2025-04-24 16:12:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:39 [debug] Moves scheduled 48844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2912512600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:39 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17216, writes 0 timeouts 0
2025-04-24 16:12:39 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36079/37155
2025-04-24 16:12:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:39 [info] currentZPosition:0.141
2025-04-24 16:12:41 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:41 [debug] Diagnostics for board 50:
2025-04-24 16:12:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:45 ago, cause: software
2025-04-24 16:12:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:41 [debug] Moves scheduled 48848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 118, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2911454631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:41 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17764, writes 0 timeouts 0
2025-04-24 16:12:41 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36058/37083
2025-04-24 16:12:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:41 [info] currentZPosition:0.141
2025-04-24 16:12:42 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:42 [debug] Diagnostics for board 50:
2025-04-24 16:12:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:47 ago, cause: software
2025-04-24 16:12:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:42 [debug] Moves scheduled 48852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 119, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2910420507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:12:42 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17343, writes 0 timeouts 0
2025-04-24 16:12:42 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36113/37124
2025-04-24 16:12:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9365, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:42 [info] currentZPosition:0.140
2025-04-24 16:12:43 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:43 [debug] Diagnostics for board 50:
2025-04-24 16:12:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:48 ago, cause: software
2025-04-24 16:12:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:43 [debug] Moves scheduled 48856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 121, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2909376861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:43 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17525, writes 0 timeouts 0
2025-04-24 16:12:43 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36015/37110
2025-04-24 16:12:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9288, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:43 [info] currentZPosition:0.141
2025-04-24 16:12:45 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:45 [debug] Diagnostics for board 50:
2025-04-24 16:12:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:50 ago, cause: software
2025-04-24 16:12:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:45 [debug] Moves scheduled 48860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 118, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2908352567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:12:45 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17188, writes 0 timeouts 0
2025-04-24 16:12:45 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36064/37109
2025-04-24 16:12:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:45 [info] currentZPosition:0.141
2025-04-24 16:12:46 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:46 [debug] Diagnostics for board 50:
2025-04-24 16:12:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:51 ago, cause: software
2025-04-24 16:12:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:46 [debug] Moves scheduled 48864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 111, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2907287735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:12:46 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17857, writes 0 timeouts 0
2025-04-24 16:12:46 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36002/37141
2025-04-24 16:12:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9371, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:46 [info] currentZPosition:0.140
2025-04-24 16:12:47 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:47 [debug] Diagnostics for board 50:
2025-04-24 16:12:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:52 ago, cause: software
2025-04-24 16:12:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:47 [debug] Moves scheduled 48868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 101, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2906270794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:12:47 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17077, writes 0 timeouts 0
2025-04-24 16:12:47 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36104/37096
2025-04-24 16:12:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:48 [info] currentZPosition:0.141
2025-04-24 16:12:49 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:49 [debug] Diagnostics for board 50:
2025-04-24 16:12:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:14:54 ago, cause: software
2025-04-24 16:12:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:49 [debug] Moves scheduled 48872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 87, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2905218774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:12:49 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17669, writes 0 timeouts 0
2025-04-24 16:12:49 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36035/37124
2025-04-24 16:12:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 834
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:49 [info] currentZPosition:0.141
2025-04-24 16:12:50 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:50 [debug] Diagnostics for board 50:
2025-04-24 16:12:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:55 ago, cause: software
2025-04-24 16:12:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:50 [debug] Moves scheduled 48876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2904193348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:12:50 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17213, writes 0 timeouts 0
2025-04-24 16:12:50 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36110/37137
2025-04-24 16:12:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:50 [info] currentZPosition:0.141
2025-04-24 16:12:52 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:52 [debug] Diagnostics for board 50:
2025-04-24 16:12:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:57 ago, cause: software
2025-04-24 16:12:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:52 [debug] Moves scheduled 48880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15306
Sync err accum 63, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2903144723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:12:52 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17592, writes 0 timeouts 0
2025-04-24 16:12:52 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36051/37175
2025-04-24 16:12:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9254, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:52 [info] currentZPosition:0.141
2025-04-24 16:12:53 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:53 [debug] Diagnostics for board 50:
2025-04-24 16:12:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:14:58 ago, cause: software
2025-04-24 16:12:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:53 [debug] Moves scheduled 48884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=10000, max=15000
Sync err accum 75, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2902114884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:12:53 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17285, writes 0 timeouts 0
2025-04-24 16:12:53 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36178/37112
2025-04-24 16:12:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:53 [info] currentZPosition:0.141
2025-04-24 16:12:54 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:54 [debug] Diagnostics for board 50:
2025-04-24 16:12:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:14:59 ago, cause: software
2025-04-24 16:12:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:54 [debug] Moves scheduled 48888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2901060048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:54 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17704, writes 0 timeouts 0
2025-04-24 16:12:54 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36011/37109
2025-04-24 16:12:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:54 [info] currentZPosition:0.141
2025-04-24 16:12:56 [debug] Stopped at height 0.140 mm
2025-04-24 16:12:56 [debug] Diagnostics for board 50:
2025-04-24 16:12:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:01 ago, cause: software
2025-04-24 16:12:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:56 [debug] Moves scheduled 48892, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 94, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2900020274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:56 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17431, writes 0 timeouts 0
2025-04-24 16:12:56 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36355/37123
2025-04-24 16:12:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9362, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:56 [info] currentZPosition:0.140
2025-04-24 16:12:57 [debug] Stopped at height 0.142 mm
2025-04-24 16:12:57 [debug] Diagnostics for board 50:
2025-04-24 16:12:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:02 ago, cause: software
2025-04-24 16:12:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:57 [debug] Moves scheduled 48896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2898990573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:57 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17298, writes 0 timeouts 0
2025-04-24 16:12:57 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36052/37144
2025-04-24 16:12:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:57 [info] currentZPosition:0.142
2025-04-24 16:12:58 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:58 [debug] Stopped at height 0.139 mm
2025-04-24 16:12:59 [debug] Stopped at height 0.141 mm
2025-04-24 16:12:59 [debug] Diagnostics for board 50:
2025-04-24 16:12:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:12:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:04 ago, cause: software
2025-04-24 16:12:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:12:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:12:59 [debug] Moves scheduled 48904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2897469671 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:12:59 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25508, writes 0 timeouts 0
2025-04-24 16:12:59 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 61, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 432, adv 36293/37138
2025-04-24 16:12:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9343, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:12:59 [info] currentZPosition:0.141
2025-04-24 16:13:00 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:01 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:01 [debug] Diagnostics for board 50:
2025-04-24 16:13:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:06 ago, cause: software
2025-04-24 16:13:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:01 [debug] Moves scheduled 48910, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15306
Sync err accum 95, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2896190165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:01 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21476, writes 0 timeouts 0
2025-04-24 16:13:01 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36059/37124
2025-04-24 16:13:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:01 [info] currentZPosition:0.141
2025-04-24 16:13:01 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:03 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:03 [debug] Diagnostics for board 50:
2025-04-24 16:13:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:07 ago, cause: software
2025-04-24 16:13:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:03 [debug] Moves scheduled 48916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2894915302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.6C, max
2025-04-24 16:13:03 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21398, writes 0 timeouts 0
2025-04-24 16:13:03 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36291/37169
2025-04-24 16:13:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:03 [info] currentZPosition:0.141
2025-04-24 16:13:04 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:04 [debug] Diagnostics for board 50:
2025-04-24 16:13:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:09 ago, cause: software
2025-04-24 16:13:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:04 [debug] Moves scheduled 48920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2893871340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:13:04 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17513, writes 0 timeouts 0
2025-04-24 16:13:04 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36083/37158
2025-04-24 16:13:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:04 [info] currentZPosition:0.141
2025-04-24 16:13:05 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:05 [debug] Diagnostics for board 50:
2025-04-24 16:13:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:10 ago, cause: software
2025-04-24 16:13:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:05 [debug] Moves scheduled 48924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2892840725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:13:05 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17296, writes 0 timeouts 0
2025-04-24 16:13:05 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36303/37097
2025-04-24 16:13:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:05 [info] currentZPosition:0.141
2025-04-24 16:13:07 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:07 [debug] Diagnostics for board 50:
2025-04-24 16:13:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:12 ago, cause: software
2025-04-24 16:13:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:07 [debug] Moves scheduled 48928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2891770796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:13:07 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17952, writes 0 timeouts 0
2025-04-24 16:13:07 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36074/37096
2025-04-24 16:13:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9370, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:07 [info] currentZPosition:0.140
2025-04-24 16:13:08 [debug] Stopped at height 0.143 mm
2025-04-24 16:13:08 [debug] Diagnostics for board 50:
2025-04-24 16:13:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:13 ago, cause: software
2025-04-24 16:13:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:08 [debug] Moves scheduled 48932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2890787786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:13:08 [debug] Driver 0: pos -3540, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16512, writes 0 timeouts 0
2025-04-24 16:13:08 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36306/37150
2025-04-24 16:13:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 833
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9201, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:08 [info] currentZPosition:0.143
2025-04-24 16:13:09 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:10 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:10 [debug] Diagnostics for board 50:
2025-04-24 16:13:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:15 ago, cause: software
2025-04-24 16:13:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:10 [debug] Moves scheduled 48938, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 2889463928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:13:10 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22235, writes 0 timeouts 0
2025-04-24 16:13:10 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36005/37157
2025-04-24 16:13:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:10 [info] currentZPosition:0.141
2025-04-24 16:13:11 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:11 [debug] Diagnostics for board 50:
2025-04-24 16:13:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:16 ago, cause: software
2025-04-24 16:13:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:11 [debug] Moves scheduled 48942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 111, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2888432422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:13:11 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17269, writes 0 timeouts 0
2025-04-24 16:13:11 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 436, adv 36342/37066
2025-04-24 16:13:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9350, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:11 [info] currentZPosition:0.140
2025-04-24 16:13:13 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:13 [debug] Diagnostics for board 50:
2025-04-24 16:13:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:18 ago, cause: software
2025-04-24 16:13:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:13 [debug] Moves scheduled 48946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 118, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2887386926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:13 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17579, writes 0 timeouts 0
2025-04-24 16:13:13 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36084/37139
2025-04-24 16:13:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:13 [info] currentZPosition:0.141
2025-04-24 16:13:14 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:14 [debug] Diagnostics for board 50:
2025-04-24 16:13:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:15:19 ago, cause: software
2025-04-24 16:13:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:14 [debug] Moves scheduled 48950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 122, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2886371808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:14 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17021, writes 0 timeouts 0
2025-04-24 16:13:14 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36274/37149
2025-04-24 16:13:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:14 [info] currentZPosition:0.142
2025-04-24 16:13:15 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:15 [debug] Diagnostics for board 50:
2025-04-24 16:13:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:20 ago, cause: software
2025-04-24 16:13:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:15 [debug] Moves scheduled 48954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 123, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2885310634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:13:15 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17800, writes 0 timeouts 0
2025-04-24 16:13:15 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36036/37116
2025-04-24 16:13:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:15 [info] currentZPosition:0.141
2025-04-24 16:13:17 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:17 [debug] Diagnostics for board 50:
2025-04-24 16:13:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:22 ago, cause: software
2025-04-24 16:13:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:17 [debug] Moves scheduled 48958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 121, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2884255918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:13:17 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17721, writes 0 timeouts 0
2025-04-24 16:13:17 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36397/37076
2025-04-24 16:13:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9393, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:17 [info] currentZPosition:0.140
2025-04-24 16:13:17 [debug] Stopped at height 0.139 mm
2025-04-24 16:13:18 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:18 [debug] Diagnostics for board 50:
2025-04-24 16:13:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:23 ago, cause: software
2025-04-24 16:13:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:18 [debug] Moves scheduled 48964, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2882984038 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:13:18 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21324, writes 0 timeouts 0
2025-04-24 16:13:18 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36010/37132
2025-04-24 16:13:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:19 [info] currentZPosition:0.141
2025-04-24 16:13:20 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:20 [debug] Diagnostics for board 50:
2025-04-24 16:13:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:25 ago, cause: software
2025-04-24 16:13:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:20 [debug] Moves scheduled 48968, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2881945631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:13:20 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17432, writes 0 timeouts 0
2025-04-24 16:13:20 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36307/37165
2025-04-24 16:13:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:20 [info] currentZPosition:0.140
2025-04-24 16:13:21 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:21 [debug] Diagnostics for board 50:
2025-04-24 16:13:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:26 ago, cause: software
2025-04-24 16:13:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:21 [debug] Moves scheduled 48972, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 93, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2880885721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:13:21 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17800, writes 0 timeouts 0
2025-04-24 16:13:21 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36043/37126
2025-04-24 16:13:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:21 [info] currentZPosition:0.140
2025-04-24 16:13:23 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:23 [debug] Diagnostics for board 50:
2025-04-24 16:13:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:28 ago, cause: software
2025-04-24 16:13:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:23 [debug] Moves scheduled 48976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 78, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2879894103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:13:23 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16622, writes 0 timeouts 0
2025-04-24 16:13:23 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36309/37119
2025-04-24 16:13:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:23 [info] currentZPosition:0.142
2025-04-24 16:13:23 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:24 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:24 [debug] Diagnostics for board 50:
2025-04-24 16:13:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:29 ago, cause: software
2025-04-24 16:13:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:24 [debug] Moves scheduled 48982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 61, peak jitter -4/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2878569001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:24 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22231, writes 0 timeouts 0
2025-04-24 16:13:24 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36051/37107
2025-04-24 16:13:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9377, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:24 [info] currentZPosition:0.140
2025-04-24 16:13:26 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:26 [debug] Diagnostics for board 50:
2025-04-24 16:13:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:31 ago, cause: software
2025-04-24 16:13:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:26 [debug] Moves scheduled 48986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 73, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2877566949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:13:26 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16831, writes 0 timeouts 0
2025-04-24 16:13:26 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36351/37119
2025-04-24 16:13:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9357, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:26 [info] currentZPosition:0.141
2025-04-24 16:13:27 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:27 [debug] Diagnostics for board 50:
2025-04-24 16:13:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:32 ago, cause: software
2025-04-24 16:13:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:27 [debug] Moves scheduled 48990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2876517028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:13:27 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17616, writes 0 timeouts 0
2025-04-24 16:13:27 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36029/37094
2025-04-24 16:13:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:27 [info] currentZPosition:0.141
2025-04-24 16:13:28 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:28 [debug] Diagnostics for board 50:
2025-04-24 16:13:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:33 ago, cause: software
2025-04-24 16:13:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:28 [debug] Moves scheduled 48994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 86, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2875487914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:13:28 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17250, writes 0 timeouts 0
2025-04-24 16:13:28 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36396/37113
2025-04-24 16:13:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:29 [info] currentZPosition:0.141
2025-04-24 16:13:30 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:30 [debug] Diagnostics for board 50:
2025-04-24 16:13:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:35 ago, cause: software
2025-04-24 16:13:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:30 [debug] Moves scheduled 48998, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2874450639 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:13:30 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17444, writes 0 timeouts 0
2025-04-24 16:13:30 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35899/37142
2025-04-24 16:13:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:30 [info] currentZPosition:0.142
2025-04-24 16:13:31 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:31 [debug] Diagnostics for board 50:
2025-04-24 16:13:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:36 ago, cause: software
2025-04-24 16:13:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:31 [debug] Moves scheduled 49002, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2873388691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:31 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17782, writes 0 timeouts 0
2025-04-24 16:13:31 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36323/37115
2025-04-24 16:13:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9375, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:31 [info] currentZPosition:0.140
2025-04-24 16:13:32 [debug] Stopped at height 0.139 mm
2025-04-24 16:13:33 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:33 [debug] Diagnostics for board 50:
2025-04-24 16:13:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:38 ago, cause: software
2025-04-24 16:13:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:33 [debug] Moves scheduled 49008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 90, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2872117668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:13:33 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21332, writes 0 timeouts 0
2025-04-24 16:13:33 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36033/37101
2025-04-24 16:13:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:33 [info] currentZPosition:0.141
2025-04-24 16:13:33 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:35 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:35 [debug] Diagnostics for board 50:
2025-04-24 16:13:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:40 ago, cause: software
2025-04-24 16:13:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:35 [debug] Moves scheduled 49014, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2870860151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:13:35 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21095, writes 0 timeouts 0
2025-04-24 16:13:35 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36307/37107
2025-04-24 16:13:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:35 [info] currentZPosition:0.142
2025-04-24 16:13:35 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:36 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:36 [debug] Diagnostics for board 50:
2025-04-24 16:13:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:41 ago, cause: software
2025-04-24 16:13:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:36 [debug] Moves scheduled 49020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 71, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2869563479 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:13:36 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21752, writes 0 timeouts 0
2025-04-24 16:13:36 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36046/37122
2025-04-24 16:13:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9294, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:36 [info] currentZPosition:0.141
2025-04-24 16:13:38 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:38 [debug] Diagnostics for board 50:
2025-04-24 16:13:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:43 ago, cause: software
2025-04-24 16:13:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:38 [debug] Moves scheduled 49024, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2868542901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:38 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17141, writes 0 timeouts 0
2025-04-24 16:13:38 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36335/37140
2025-04-24 16:13:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9275, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:38 [info] currentZPosition:0.142
2025-04-24 16:13:39 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:39 [debug] Diagnostics for board 50:
2025-04-24 16:13:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:44 ago, cause: software
2025-04-24 16:13:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:39 [debug] Moves scheduled 49028, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2867479295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:13:39 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17867, writes 0 timeouts 0
2025-04-24 16:13:39 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36018/37113
2025-04-24 16:13:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:39 [info] currentZPosition:0.141
2025-04-24 16:13:41 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:41 [debug] Diagnostics for board 50:
2025-04-24 16:13:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:45 ago, cause: software
2025-04-24 16:13:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:41 [debug] Moves scheduled 49032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2866448571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:13:41 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17286, writes 0 timeouts 0
2025-04-24 16:13:41 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36316/37122
2025-04-24 16:13:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9350, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:41 [info] currentZPosition:0.141
2025-04-24 16:13:42 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:42 [debug] Diagnostics for board 50:
2025-04-24 16:13:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:47 ago, cause: software
2025-04-24 16:13:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:42 [debug] Moves scheduled 49036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, next step interrupt due in 2865389120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31
2025-04-24 16:13:42 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17766, writes 0 timeouts 0
2025-04-24 16:13:42 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36041/37110
2025-04-24 16:13:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:42 [info] currentZPosition:0.141
2025-04-24 16:13:43 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:43 [debug] Diagnostics for board 50:
2025-04-24 16:13:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:48 ago, cause: software
2025-04-24 16:13:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:43 [debug] Moves scheduled 49040, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2864358425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:13:43 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17312, writes 0 timeouts 0
2025-04-24 16:13:43 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36314/37103
2025-04-24 16:13:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9397, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:43 [info] currentZPosition:0.140
2025-04-24 16:13:45 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:45 [debug] Diagnostics for board 50:
2025-04-24 16:13:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:50 ago, cause: software
2025-04-24 16:13:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:45 [debug] Moves scheduled 49044, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 89, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2863297730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:45 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17794, writes 0 timeouts 0
2025-04-24 16:13:45 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36062/37085
2025-04-24 16:13:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9419, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:45 [info] currentZPosition:0.140
2025-04-24 16:13:46 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:46 [debug] Diagnostics for board 50:
2025-04-24 16:13:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:51 ago, cause: software
2025-04-24 16:13:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:46 [debug] Moves scheduled 49048, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 86, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2862291760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:13:46 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16879, writes 0 timeouts 0
2025-04-24 16:13:46 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36331/37118
2025-04-24 16:13:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9348, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:46 [info] currentZPosition:0.141
2025-04-24 16:13:47 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:47 [debug] Diagnostics for board 50:
2025-04-24 16:13:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:52 ago, cause: software
2025-04-24 16:13:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:47 [debug] Moves scheduled 49052, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 2861244394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:13:47 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17577, writes 0 timeouts 0
2025-04-24 16:13:47 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36051/37126
2025-04-24 16:13:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:48 [info] currentZPosition:0.141
2025-04-24 16:13:49 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:49 [debug] Diagnostics for board 50:
2025-04-24 16:13:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:54 ago, cause: software
2025-04-24 16:13:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:49 [debug] Moves scheduled 49056, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 71, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2860216873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:49 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17250, writes 0 timeouts 0
2025-04-24 16:13:49 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36222/37131
2025-04-24 16:13:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:49 [info] currentZPosition:0.141
2025-04-24 16:13:50 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:50 [debug] Diagnostics for board 50:
2025-04-24 16:13:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:15:55 ago, cause: software
2025-04-24 16:13:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:50 [debug] Moves scheduled 49060, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2859164956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:13:50 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17650, writes 0 timeouts 0
2025-04-24 16:13:50 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36047/37167
2025-04-24 16:13:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:50 [info] currentZPosition:0.142
2025-04-24 16:13:52 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:52 [debug] Diagnostics for board 50:
2025-04-24 16:13:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:57 ago, cause: software
2025-04-24 16:13:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:52 [debug] Moves scheduled 49064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2858145951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:13:52 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17113, writes 0 timeouts 0
2025-04-24 16:13:52 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36065/37135
2025-04-24 16:13:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:52 [info] currentZPosition:0.142
2025-04-24 16:13:53 [debug] Stopped at height 0.141 mm
2025-04-24 16:13:53 [debug] Diagnostics for board 50:
2025-04-24 16:13:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:15:58 ago, cause: software
2025-04-24 16:13:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:53 [debug] Moves scheduled 49068, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 90, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2857074318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:13:53 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17975, writes 0 timeouts 0
2025-04-24 16:13:53 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36041/37104
2025-04-24 16:13:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:53 [info] currentZPosition:0.141
2025-04-24 16:13:54 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:54 [debug] Diagnostics for board 50:
2025-04-24 16:13:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:15:59 ago, cause: software
2025-04-24 16:13:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:54 [debug] Moves scheduled 49072, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2856074714 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:54 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16773, writes 0 timeouts 0
2025-04-24 16:13:54 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36091/37154
2025-04-24 16:13:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:54 [info] currentZPosition:0.142
2025-04-24 16:13:56 [debug] Stopped at height 0.140 mm
2025-04-24 16:13:56 [debug] Diagnostics for board 50:
2025-04-24 16:13:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:01 ago, cause: software
2025-04-24 16:13:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:56 [debug] Moves scheduled 49076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 117, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2854982775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:13:56 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18303, writes 0 timeouts 0
2025-04-24 16:13:56 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36008/37121
2025-04-24 16:13:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9389, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:56 [info] currentZPosition:0.140
2025-04-24 16:13:56 [debug] Stopped at height 0.139 mm
2025-04-24 16:13:57 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:57 [debug] Diagnostics for board 50:
2025-04-24 16:13:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:16:02 ago, cause: software
2025-04-24 16:13:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:57 [debug] Moves scheduled 49082, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 123, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2853745138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:13:57 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20778, writes 0 timeouts 0
2025-04-24 16:13:57 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36066/37126
2025-04-24 16:13:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:58 [info] currentZPosition:0.142
2025-04-24 16:13:58 [debug] Stopped at height 0.139 mm
2025-04-24 16:13:59 [debug] Stopped at height 0.142 mm
2025-04-24 16:13:59 [debug] Diagnostics for board 50:
2025-04-24 16:13:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:13:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:04 ago, cause: software
2025-04-24 16:13:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:13:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:13:59 [debug] Moves scheduled 49088, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 128, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2852450853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:13:59 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21742, writes 0 timeouts 0
2025-04-24 16:13:59 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36018/37130
2025-04-24 16:13:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9346, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:13:59 [info] currentZPosition:0.142
2025-04-24 16:14:00 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:01 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:01 [debug] Diagnostics for board 50:
2025-04-24 16:14:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:06 ago, cause: software
2025-04-24 16:14:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:01 [debug] Moves scheduled 49094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 120, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2851196387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:14:01 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21017, writes 0 timeouts 0
2025-04-24 16:14:01 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36086/37141
2025-04-24 16:14:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:01 [info] currentZPosition:0.142
2025-04-24 16:14:01 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:03 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:03 [debug] Diagnostics for board 50:
2025-04-24 16:14:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:16:08 ago, cause: software
2025-04-24 16:14:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:03 [debug] Moves scheduled 49100, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 106, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2849910447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: mi
2025-04-24 16:14:03 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21570, writes 0 timeouts 0
2025-04-24 16:14:03 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36045/37112
2025-04-24 16:14:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9349, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:03 [info] currentZPosition:0.142
2025-04-24 16:14:03 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:04 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:04 [debug] Diagnostics for board 50:
2025-04-24 16:14:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:09 ago, cause: software
2025-04-24 16:14:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:04 [debug] Moves scheduled 49106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 90, peak jitter -2/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2848656033 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:14:04 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21062, writes 0 timeouts 0
2025-04-24 16:14:04 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 435, adv 36062/37114
2025-04-24 16:14:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:04 [info] currentZPosition:0.142
2025-04-24 16:14:05 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:06 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:06 [debug] Diagnostics for board 50:
2025-04-24 16:14:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:11 ago, cause: software
2025-04-24 16:14:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:06 [debug] Moves scheduled 49112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8620, max=15306
Sync err accum 69, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2847369509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:14:06 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21566, writes 0 timeouts 0
2025-04-24 16:14:06 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36079/37140
2025-04-24 16:14:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:06 [info] currentZPosition:0.142
2025-04-24 16:14:06 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:08 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:08 [debug] Diagnostics for board 50:
2025-04-24 16:14:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:13 ago, cause: software
2025-04-24 16:14:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:08 [debug] Moves scheduled 49118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 66, peak jitter -3/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2846117753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:14:08 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21004, writes 0 timeouts 0
2025-04-24 16:14:08 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36051/37111
2025-04-24 16:14:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9299, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:08 [info] currentZPosition:0.143
2025-04-24 16:14:09 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:09 [debug] Diagnostics for board 50:
2025-04-24 16:14:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:16:14 ago, cause: software
2025-04-24 16:14:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:09 [debug] Moves scheduled 49122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 85, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2845022575 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:14:09 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18378, writes 0 timeouts 0
2025-04-24 16:14:09 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36025/37084
2025-04-24 16:14:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9423, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:09 [info] currentZPosition:0.140
2025-04-24 16:14:10 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:11 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:11 [debug] Diagnostics for board 50:
2025-04-24 16:14:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:16:16 ago, cause: software
2025-04-24 16:14:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:11 [debug] Moves scheduled 49128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 100, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2843788847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:11 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20707, writes 0 timeouts 0
2025-04-24 16:14:11 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36079/37115
2025-04-24 16:14:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:11 [info] currentZPosition:0.142
2025-04-24 16:14:11 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:12 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:12 [debug] Diagnostics for board 50:
2025-04-24 16:14:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:17 ago, cause: software
2025-04-24 16:14:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:12 [debug] Moves scheduled 49134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 113, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2842496744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:12 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21699, writes 0 timeouts 0
2025-04-24 16:14:12 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36011/37100
2025-04-24 16:14:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:13 [info] currentZPosition:0.142
2025-04-24 16:14:13 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:14 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:14 [debug] Diagnostics for board 50:
2025-04-24 16:14:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:19 ago, cause: software
2025-04-24 16:14:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:14 [debug] Moves scheduled 49140, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8620, max=15000
Sync err accum 121, peak jitter 1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2841245225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:14:14 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20966, writes 0 timeouts 0
2025-04-24 16:14:14 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36082/37121
2025-04-24 16:14:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:14 [info] currentZPosition:0.142
2025-04-24 16:14:15 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:16 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:16 [debug] Diagnostics for board 50:
2025-04-24 16:14:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:21 ago, cause: software
2025-04-24 16:14:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:16 [debug] Moves scheduled 49146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 126, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2839942921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:16 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21853, writes 0 timeouts 0
2025-04-24 16:14:16 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36007/37169
2025-04-24 16:14:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:16 [info] currentZPosition:0.141
2025-04-24 16:14:17 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:17 [debug] Diagnostics for board 50:
2025-04-24 16:14:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:22 ago, cause: software
2025-04-24 16:14:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:17 [debug] Moves scheduled 49150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=68, frequency (Hz): min=9375, max=18750
Sync err accum 126, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2838947774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:14:17 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16731, writes 0 timeouts 0
2025-04-24 16:14:17 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36093/37169
2025-04-24 16:14:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9264, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:17 [info] currentZPosition:0.143
2025-04-24 16:14:18 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:19 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:19 [debug] Diagnostics for board 50:
2025-04-24 16:14:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:24 ago, cause: software
2025-04-24 16:14:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:19 [debug] Moves scheduled 49156, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=70, frequency (Hz): min=9146, max=15000
Sync err accum 121, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2837627307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:14:19 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22110, writes 0 timeouts 0
2025-04-24 16:14:19 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36042/37096
2025-04-24 16:14:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:19 [info] currentZPosition:0.141
2025-04-24 16:14:20 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:20 [debug] Diagnostics for board 50:
2025-04-24 16:14:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:16:25 ago, cause: software
2025-04-24 16:14:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:20 [debug] Moves scheduled 49160, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 115, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2836599868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:14:20 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17245, writes 0 timeouts 0
2025-04-24 16:14:20 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36059/37119
2025-04-24 16:14:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9383, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:20 [info] currentZPosition:0.141
2025-04-24 16:14:22 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:22 [debug] Diagnostics for board 50:
2025-04-24 16:14:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:27 ago, cause: software
2025-04-24 16:14:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:22 [debug] Moves scheduled 49164, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2835553562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:14:22 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17607, writes 0 timeouts 0
2025-04-24 16:14:22 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36004/37113
2025-04-24 16:14:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:22 [info] currentZPosition:0.141
2025-04-24 16:14:23 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:23 [debug] Diagnostics for board 50:
2025-04-24 16:14:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:28 ago, cause: software
2025-04-24 16:14:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:23 [debug] Moves scheduled 49168, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2834546789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:14:23 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16852, writes 0 timeouts 0
2025-04-24 16:14:23 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36061/37143
2025-04-24 16:14:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9299, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:23 [info] currentZPosition:0.142
2025-04-24 16:14:24 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:24 [debug] Diagnostics for board 50:
2025-04-24 16:14:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:29 ago, cause: software
2025-04-24 16:14:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:24 [debug] Moves scheduled 49172, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 79, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2833491232 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:14:24 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17722, writes 0 timeouts 0
2025-04-24 16:14:24 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36086/37133
2025-04-24 16:14:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:25 [info] currentZPosition:0.142
2025-04-24 16:14:26 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:26 [debug] Diagnostics for board 50:
2025-04-24 16:14:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:31 ago, cause: software
2025-04-24 16:14:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:26 [debug] Moves scheduled 49176, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -3/-3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2832482314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:14:26 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16957, writes 0 timeouts 0
2025-04-24 16:14:26 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36092/37112
2025-04-24 16:14:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9257, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:26 [info] currentZPosition:0.143
2025-04-24 16:14:27 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:27 [debug] Diagnostics for board 50:
2025-04-24 16:14:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:32 ago, cause: software
2025-04-24 16:14:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:27 [debug] Moves scheduled 49180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 65, peak jitter -3/4, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2831399030 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:27 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18156, writes 0 timeouts 0
2025-04-24 16:14:27 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36068/37124
2025-04-24 16:14:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:27 [info] currentZPosition:0.142
2025-04-24 16:14:28 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:29 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:29 [debug] Diagnostics for board 50:
2025-04-24 16:14:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:34 ago, cause: software
2025-04-24 16:14:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:29 [debug] Moves scheduled 49186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter 1/4, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2830133025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:14:29 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21237, writes 0 timeouts 0
2025-04-24 16:14:29 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36108/37120
2025-04-24 16:14:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:29 [info] currentZPosition:0.142
2025-04-24 16:14:30 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:30 [debug] Diagnostics for board 50:
2025-04-24 16:14:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:35 ago, cause: software
2025-04-24 16:14:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:30 [debug] Moves scheduled 49190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2829081588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:14:30 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17641, writes 0 timeouts 0
2025-04-24 16:14:30 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35996/37151
2025-04-24 16:14:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9343, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:30 [info] currentZPosition:0.142
2025-04-24 16:14:32 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:32 [debug] Diagnostics for board 50:
2025-04-24 16:14:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:16:37 ago, cause: software
2025-04-24 16:14:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:32 [debug] Moves scheduled 49194, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2828070901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:14:32 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16966, writes 0 timeouts 0
2025-04-24 16:14:32 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36086/37148
2025-04-24 16:14:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9314, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:32 [info] currentZPosition:0.143
2025-04-24 16:14:33 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:33 [debug] Diagnostics for board 50:
2025-04-24 16:14:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:38 ago, cause: software
2025-04-24 16:14:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:33 [debug] Moves scheduled 49198, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2827013315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:33 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17773, writes 0 timeouts 0
2025-04-24 16:14:33 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36046/37152
2025-04-24 16:14:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9260, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:33 [info] currentZPosition:0.143
2025-04-24 16:14:34 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:34 [debug] Diagnostics for board 50:
2025-04-24 16:14:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:39 ago, cause: software
2025-04-24 16:14:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:34 [debug] Moves scheduled 49202, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2825988804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:34 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17181, writes 0 timeouts 0
2025-04-24 16:14:34 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36098/37132
2025-04-24 16:14:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:35 [info] currentZPosition:0.143
2025-04-24 16:14:36 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:36 [debug] Diagnostics for board 50:
2025-04-24 16:14:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:41 ago, cause: software
2025-04-24 16:14:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:36 [debug] Moves scheduled 49206, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8928, max=15000
Sync err accum 83, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2824911213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:14:36 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18064, writes 0 timeouts 0
2025-04-24 16:14:36 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36039/37153
2025-04-24 16:14:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9373, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:36 [info] currentZPosition:0.142
2025-04-24 16:14:37 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:37 [debug] Diagnostics for board 50:
2025-04-24 16:14:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:42 ago, cause: software
2025-04-24 16:14:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:37 [debug] Moves scheduled 49210, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2823854656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:37 [debug] Driver 0: pos -3579, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17740, writes 0 timeouts 0
2025-04-24 16:14:37 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36105/37109
2025-04-24 16:14:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 851
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9444, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:37 [info] currentZPosition:0.140
2025-04-24 16:14:38 [debug] Stopped at height 0.139 mm
2025-04-24 16:14:39 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:39 [debug] Diagnostics for board 50:
2025-04-24 16:14:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:44 ago, cause: software
2025-04-24 16:14:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:39 [debug] Moves scheduled 49216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 59, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2822580122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:14:39 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21392, writes 0 timeouts 0
2025-04-24 16:14:39 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37140
2025-04-24 16:14:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:39 [info] currentZPosition:0.141
2025-04-24 16:14:40 [debug] Stopped at height 0.139 mm
2025-04-24 16:14:41 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:41 [debug] Diagnostics for board 50:
2025-04-24 16:14:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:46 ago, cause: software
2025-04-24 16:14:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:41 [debug] Moves scheduled 49222, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2821359809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:14:41 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20482, writes 0 timeouts 0
2025-04-24 16:14:41 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36129/37135
2025-04-24 16:14:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:41 [info] currentZPosition:0.143
2025-04-24 16:14:41 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:42 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:42 [debug] Diagnostics for board 50:
2025-04-24 16:14:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:16:47 ago, cause: software
2025-04-24 16:14:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:42 [debug] Moves scheduled 49228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2820025926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:14:42 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22381, writes 0 timeouts 0
2025-04-24 16:14:42 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 35995/37141
2025-04-24 16:14:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9373, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:43 [info] currentZPosition:0.141
2025-04-24 16:14:44 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:44 [debug] Diagnostics for board 50:
2025-04-24 16:14:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:49 ago, cause: software
2025-04-24 16:14:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:44 [debug] Moves scheduled 49232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 91, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2819029050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:14:44 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16728, writes 0 timeouts 0
2025-04-24 16:14:44 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36109/37123
2025-04-24 16:14:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:44 [info] currentZPosition:0.142
2025-04-24 16:14:45 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:45 [debug] Diagnostics for board 50:
2025-04-24 16:14:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:50 ago, cause: software
2025-04-24 16:14:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:45 [debug] Moves scheduled 49236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=46, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter 0/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2817946996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:14:45 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18153, writes 0 timeouts 0
2025-04-24 16:14:45 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 35996/37128
2025-04-24 16:14:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9352, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:45 [info] currentZPosition:0.141
2025-04-24 16:14:47 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:47 [debug] Diagnostics for board 50:
2025-04-24 16:14:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:51 ago, cause: software
2025-04-24 16:14:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:47 [debug] Moves scheduled 49240, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2816939511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:14:47 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16889, writes 0 timeouts 0
2025-04-24 16:14:47 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36258/37118
2025-04-24 16:14:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:47 [info] currentZPosition:0.142
2025-04-24 16:14:48 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:48 [debug] Diagnostics for board 50:
2025-04-24 16:14:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:16:53 ago, cause: software
2025-04-24 16:14:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:48 [debug] Moves scheduled 49244, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2815877455 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.6C, max 
2025-04-24 16:14:48 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17833, writes 0 timeouts 0
2025-04-24 16:14:48 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36003/37120
2025-04-24 16:14:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9376, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:48 [info] currentZPosition:0.142
2025-04-24 16:14:49 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:49 [debug] Diagnostics for board 50:
2025-04-24 16:14:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:16:54 ago, cause: software
2025-04-24 16:14:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:49 [debug] Moves scheduled 49248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2814849796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:14:49 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17250, writes 0 timeouts 0
2025-04-24 16:14:49 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36395/37151
2025-04-24 16:14:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9420, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:49 [info] currentZPosition:0.141
2025-04-24 16:14:51 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:51 [debug] Diagnostics for board 50:
2025-04-24 16:14:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:16:56 ago, cause: software
2025-04-24 16:14:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:51 [debug] Moves scheduled 49252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2813817285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:14:51 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17323, writes 0 timeouts 0
2025-04-24 16:14:51 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36000/37132
2025-04-24 16:14:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:51 [info] currentZPosition:0.143
2025-04-24 16:14:51 [debug] Stopped at height 0.140 mm
2025-04-24 16:14:52 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:52 [debug] Diagnostics for board 50:
2025-04-24 16:14:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:16:57 ago, cause: software
2025-04-24 16:14:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:52 [debug] Moves scheduled 49258, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -3/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2812558364 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:52 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21127, writes 0 timeouts 0
2025-04-24 16:14:52 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36321/37124
2025-04-24 16:14:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9350, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:52 [info] currentZPosition:0.143
2025-04-24 16:14:53 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:54 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:54 [debug] Diagnostics for board 50:
2025-04-24 16:14:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:16:59 ago, cause: software
2025-04-24 16:14:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:54 [debug] Moves scheduled 49264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2811271644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:14:54 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21596, writes 0 timeouts 0
2025-04-24 16:14:54 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36023/37078
2025-04-24 16:14:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:54 [info] currentZPosition:0.143
2025-04-24 16:14:55 [debug] Stopped at height 0.141 mm
2025-04-24 16:14:56 [debug] Stopped at height 0.142 mm
2025-04-24 16:14:56 [debug] Diagnostics for board 50:
2025-04-24 16:14:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:17:01 ago, cause: software
2025-04-24 16:14:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:56 [debug] Moves scheduled 49270, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 106, peak jitter 2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2810002165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:14:56 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21284, writes 0 timeouts 0
2025-04-24 16:14:56 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36341/37131
2025-04-24 16:14:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:56 [info] currentZPosition:0.142
2025-04-24 16:14:57 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:57 [debug] Diagnostics for board 50:
2025-04-24 16:14:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:02 ago, cause: software
2025-04-24 16:14:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:57 [debug] Moves scheduled 49274, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 113, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2808952117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:14:57 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17614, writes 0 timeouts 0
2025-04-24 16:14:57 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36036/37155
2025-04-24 16:14:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:57 [info] currentZPosition:0.143
2025-04-24 16:14:59 [debug] Stopped at height 0.143 mm
2025-04-24 16:14:59 [debug] Diagnostics for board 50:
2025-04-24 16:14:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:14:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:17:03 ago, cause: software
2025-04-24 16:14:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:14:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:14:59 [debug] Moves scheduled 49278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 122, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2807930538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:14:59 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17166, writes 0 timeouts 0
2025-04-24 16:14:59 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36307/37125
2025-04-24 16:14:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:14:59 [info] currentZPosition:0.143
2025-04-24 16:15:00 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:00 [debug] Diagnostics for board 50:
2025-04-24 16:15:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:05 ago, cause: software
2025-04-24 16:15:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:00 [debug] Moves scheduled 49282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 126, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2806863295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:15:00 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17915, writes 0 timeouts 0
2025-04-24 16:15:00 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36092/37108
2025-04-24 16:15:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:00 [info] currentZPosition:0.143
2025-04-24 16:15:01 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:01 [debug] Diagnostics for board 50:
2025-04-24 16:15:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:06 ago, cause: software
2025-04-24 16:15:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:01 [debug] Moves scheduled 49286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 127, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2805827658 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:15:01 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17382, writes 0 timeouts 0
2025-04-24 16:15:01 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36347/37096
2025-04-24 16:15:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:01 [info] currentZPosition:0.142
2025-04-24 16:15:03 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:03 [debug] Diagnostics for board 50:
2025-04-24 16:15:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:17:08 ago, cause: software
2025-04-24 16:15:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:03 [debug] Moves scheduled 49290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 125, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2804783584 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:15:03 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17513, writes 0 timeouts 0
2025-04-24 16:15:03 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36037/37141
2025-04-24 16:15:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:03 [info] currentZPosition:0.143
2025-04-24 16:15:04 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:04 [debug] Diagnostics for board 50:
2025-04-24 16:15:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:09 ago, cause: software
2025-04-24 16:15:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:04 [debug] Moves scheduled 49294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 121, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2803748295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:15:04 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17369, writes 0 timeouts 0
2025-04-24 16:15:04 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36349/37113
2025-04-24 16:15:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:04 [info] currentZPosition:0.142
2025-04-24 16:15:06 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:06 [debug] Diagnostics for board 50:
2025-04-24 16:15:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:10 ago, cause: software
2025-04-24 16:15:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:06 [debug] Moves scheduled 49298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 114, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2802695528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:06 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17664, writes 0 timeouts 0
2025-04-24 16:15:06 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36032/37098
2025-04-24 16:15:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9382, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:06 [info] currentZPosition:0.142
2025-04-24 16:15:07 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:07 [debug] Diagnostics for board 50:
2025-04-24 16:15:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:12 ago, cause: software
2025-04-24 16:15:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:07 [debug] Moves scheduled 49302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 105, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2801682253 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 16:15:07 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17010, writes 0 timeouts 0
2025-04-24 16:15:07 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36350/37113
2025-04-24 16:15:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:07 [info] currentZPosition:0.143
2025-04-24 16:15:08 [debug] Stopped at height 0.141 mm
2025-04-24 16:15:08 [debug] Diagnostics for board 50:
2025-04-24 16:15:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:13 ago, cause: software
2025-04-24 16:15:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:08 [debug] Moves scheduled 49306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 92, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2800601827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:08 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18135, writes 0 timeouts 0
2025-04-24 16:15:08 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 35984/37152
2025-04-24 16:15:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9382, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:08 [info] currentZPosition:0.141
2025-04-24 16:15:09 [debug] Stopped at height 0.140 mm
2025-04-24 16:15:10 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:10 [debug] Diagnostics for board 50:
2025-04-24 16:15:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:15 ago, cause: software
2025-04-24 16:15:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:10 [debug] Moves scheduled 49312, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 70, peak jitter -4/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2799364890 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:15:10 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20755, writes 0 timeouts 0
2025-04-24 16:15:10 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36345/37141
2025-04-24 16:15:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:10 [info] currentZPosition:0.143
2025-04-24 16:15:10 [debug] Stopped at height 0.141 mm
2025-04-24 16:15:12 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:12 [debug] Diagnostics for board 50:
2025-04-24 16:15:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:17:17 ago, cause: software
2025-04-24 16:15:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:12 [debug] Moves scheduled 49318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2798072363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:15:12 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21725, writes 0 timeouts 0
2025-04-24 16:15:12 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36054/37167
2025-04-24 16:15:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:12 [info] currentZPosition:0.143
2025-04-24 16:15:12 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:13 [debug] Stopped at height 0.141 mm
2025-04-24 16:15:13 [debug] Diagnostics for board 50:
2025-04-24 16:15:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:18 ago, cause: software
2025-04-24 16:15:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:13 [debug] Moves scheduled 49324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2796789962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:15:13 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21497, writes 0 timeouts 0
2025-04-24 16:15:13 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36299/37133
2025-04-24 16:15:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:14 [info] currentZPosition:0.141
2025-04-24 16:15:15 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:15 [debug] Diagnostics for board 50:
2025-04-24 16:15:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:20 ago, cause: software
2025-04-24 16:15:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:15 [debug] Moves scheduled 49328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 97, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2795745609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:15:15 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17508, writes 0 timeouts 0
2025-04-24 16:15:15 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35999/37136
2025-04-24 16:15:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:15 [info] currentZPosition:0.142
2025-04-24 16:15:16 [debug] Stopped at height 0.141 mm
2025-04-24 16:15:16 [debug] Diagnostics for board 50:
2025-04-24 16:15:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:21 ago, cause: software
2025-04-24 16:15:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:16 [debug] Moves scheduled 49332, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 107, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2794706749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:15:16 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17456, writes 0 timeouts 0
2025-04-24 16:15:16 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36322/37155
2025-04-24 16:15:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9382, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:16 [info] currentZPosition:0.141
2025-04-24 16:15:18 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:18 [debug] Diagnostics for board 50:
2025-04-24 16:15:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:17:23 ago, cause: software
2025-04-24 16:15:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:18 [debug] Moves scheduled 49336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2793652837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:15:18 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17664, writes 0 timeouts 0
2025-04-24 16:15:18 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36045/37101
2025-04-24 16:15:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9392, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:18 [info] currentZPosition:0.142
2025-04-24 16:15:19 [debug] Stopped at height 0.144 mm
2025-04-24 16:15:19 [debug] Diagnostics for board 50:
2025-04-24 16:15:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:24 ago, cause: software
2025-04-24 16:15:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:19 [debug] Moves scheduled 49340, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2792670381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:19 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16501, writes 0 timeouts 0
2025-04-24 16:15:19 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36328/37122
2025-04-24 16:15:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:19 [info] currentZPosition:0.144
2025-04-24 16:15:19 [debug] Stopped at height 0.141 mm
2025-04-24 16:15:21 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:21 [debug] Diagnostics for board 50:
2025-04-24 16:15:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:26 ago, cause: software
2025-04-24 16:15:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:21 [debug] Moves scheduled 49346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 114, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2791350963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:15:21 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22164, writes 0 timeouts 0
2025-04-24 16:15:21 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36081/37159
2025-04-24 16:15:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9383, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:21 [info] currentZPosition:0.142
2025-04-24 16:15:22 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:22 [debug] Diagnostics for board 50:
2025-04-24 16:15:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:27 ago, cause: software
2025-04-24 16:15:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:22 [debug] Moves scheduled 49350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 112, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2790328394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:22 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17130, writes 0 timeouts 0
2025-04-24 16:15:22 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36307/37121
2025-04-24 16:15:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9416, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:22 [info] currentZPosition:0.142
2025-04-24 16:15:23 [debug] Stopped at height 0.144 mm
2025-04-24 16:15:23 [debug] Diagnostics for board 50:
2025-04-24 16:15:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:28 ago, cause: software
2025-04-24 16:15:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:23 [debug] Moves scheduled 49354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2789304646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:23 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17186, writes 0 timeouts 0
2025-04-24 16:15:23 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36056/37096
2025-04-24 16:15:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9261, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:23 [info] currentZPosition:0.144
2025-04-24 16:15:24 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:25 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:25 [debug] Diagnostics for board 50:
2025-04-24 16:15:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:30 ago, cause: software
2025-04-24 16:15:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:25 [debug] Moves scheduled 49360, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2788028985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:25 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21421, writes 0 timeouts 0
2025-04-24 16:15:25 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36306/37163
2025-04-24 16:15:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:25 [info] currentZPosition:0.143
2025-04-24 16:15:26 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:26 [debug] Diagnostics for board 50:
2025-04-24 16:15:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:31 ago, cause: software
2025-04-24 16:15:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:26 [debug] Moves scheduled 49364, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2786976366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:26 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17643, writes 0 timeouts 0
2025-04-24 16:15:26 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36057/37130
2025-04-24 16:15:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:27 [info] currentZPosition:0.143
2025-04-24 16:15:28 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:28 [debug] Diagnostics for board 50:
2025-04-24 16:15:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:33 ago, cause: software
2025-04-24 16:15:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:28 [debug] Moves scheduled 49368, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 72, peak jitter -2/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2785955831 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:15:28 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17131, writes 0 timeouts 0
2025-04-24 16:15:28 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36303/37154
2025-04-24 16:15:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9346, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:28 [info] currentZPosition:0.143
2025-04-24 16:15:29 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:29 [debug] Diagnostics for board 50:
2025-04-24 16:15:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:34 ago, cause: software
2025-04-24 16:15:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:29 [debug] Moves scheduled 49372, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 57, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2784889242 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:15:29 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17918, writes 0 timeouts 0
2025-04-24 16:15:29 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36064/37151
2025-04-24 16:15:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:29 [info] currentZPosition:0.142
2025-04-24 16:15:31 [debug] Stopped at height 0.144 mm
2025-04-24 16:15:31 [debug] Diagnostics for board 50:
2025-04-24 16:15:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:36 ago, cause: software
2025-04-24 16:15:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:31 [debug] Moves scheduled 49376, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 73, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, next step interrupt due in 2783885787 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31
2025-04-24 16:15:31 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16820, writes 0 timeouts 0
2025-04-24 16:15:31 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 406, adv 36347/37120
2025-04-24 16:15:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:31 [info] currentZPosition:0.144
2025-04-24 16:15:32 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:32 [debug] Diagnostics for board 50:
2025-04-24 16:15:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:17:37 ago, cause: software
2025-04-24 16:15:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:32 [debug] Moves scheduled 49380, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 89, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2782804943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:15:32 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18142, writes 0 timeouts 0
2025-04-24 16:15:32 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36038/37069
2025-04-24 16:15:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9361, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:32 [info] currentZPosition:0.142
2025-04-24 16:15:33 [debug] Stopped at height 0.144 mm
2025-04-24 16:15:33 [debug] Diagnostics for board 50:
2025-04-24 16:15:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:38 ago, cause: software
2025-04-24 16:15:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:33 [debug] Moves scheduled 49384, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2781803741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:15:33 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16812, writes 0 timeouts 0
2025-04-24 16:15:33 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36348/37127
2025-04-24 16:15:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:33 [info] currentZPosition:0.144
2025-04-24 16:15:34 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:35 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:35 [debug] Diagnostics for board 50:
2025-04-24 16:15:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:40 ago, cause: software
2025-04-24 16:15:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:35 [debug] Moves scheduled 49390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 119, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2780487001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:15:35 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22080, writes 0 timeouts 0
2025-04-24 16:15:35 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 59, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37116
2025-04-24 16:15:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:35 [info] currentZPosition:0.142
2025-04-24 16:15:36 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:36 [debug] Diagnostics for board 50:
2025-04-24 16:15:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:41 ago, cause: software
2025-04-24 16:15:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:36 [debug] Moves scheduled 49394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 127, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2779486214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:15:36 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16773, writes 0 timeouts 0
2025-04-24 16:15:36 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36317/37135
2025-04-24 16:15:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:37 [info] currentZPosition:0.143
2025-04-24 16:15:38 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:38 [debug] Diagnostics for board 50:
2025-04-24 16:15:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:43 ago, cause: software
2025-04-24 16:15:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:38 [debug] Moves scheduled 49398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 118, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2778426628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:38 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17782, writes 0 timeouts 0
2025-04-24 16:15:38 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36102/37168
2025-04-24 16:15:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:38 [info] currentZPosition:0.143
2025-04-24 16:15:39 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:39 [debug] Diagnostics for board 50:
2025-04-24 16:15:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:44 ago, cause: software
2025-04-24 16:15:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:39 [debug] Moves scheduled 49402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 105, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2777398028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 16:15:39 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17267, writes 0 timeouts 0
2025-04-24 16:15:39 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36399/37157
2025-04-24 16:15:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:39 [info] currentZPosition:0.143
2025-04-24 16:15:41 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:41 [debug] Diagnostics for board 50:
2025-04-24 16:15:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:46 ago, cause: software
2025-04-24 16:15:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:41 [debug] Moves scheduled 49406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2776346288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:15:41 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17649, writes 0 timeouts 0
2025-04-24 16:15:41 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36057/37116
2025-04-24 16:15:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:41 [info] currentZPosition:0.143
2025-04-24 16:15:42 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:42 [debug] Diagnostics for board 50:
2025-04-24 16:15:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:47 ago, cause: software
2025-04-24 16:15:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:42 [debug] Moves scheduled 49410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2775320744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:15:42 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17211, writes 0 timeouts 0
2025-04-24 16:15:42 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36223/37142
2025-04-24 16:15:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:42 [info] currentZPosition:0.143
2025-04-24 16:15:43 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:43 [debug] Diagnostics for board 50:
2025-04-24 16:15:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:48 ago, cause: software
2025-04-24 16:15:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:43 [debug] Moves scheduled 49414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -4/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2774270341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:15:43 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17628, writes 0 timeouts 0
2025-04-24 16:15:43 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36046/37126
2025-04-24 16:15:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9342, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:44 [info] currentZPosition:0.143
2025-04-24 16:15:45 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:45 [debug] Diagnostics for board 50:
2025-04-24 16:15:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:50 ago, cause: software
2025-04-24 16:15:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:45 [debug] Moves scheduled 49418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9740, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2773238052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:15:45 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17305, writes 0 timeouts 0
2025-04-24 16:15:45 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36113/37115
2025-04-24 16:15:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:45 [info] currentZPosition:0.143
2025-04-24 16:15:46 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:46 [debug] Diagnostics for board 50:
2025-04-24 16:15:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:51 ago, cause: software
2025-04-24 16:15:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:46 [debug] Moves scheduled 49422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 89, peak jitter 2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2772183781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:15:46 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17702, writes 0 timeouts 0
2025-04-24 16:15:46 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 36083/37163
2025-04-24 16:15:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:46 [info] currentZPosition:0.143
2025-04-24 16:15:48 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:48 [debug] Diagnostics for board 50:
2025-04-24 16:15:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:53 ago, cause: software
2025-04-24 16:15:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:48 [debug] Moves scheduled 49426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15000
Sync err accum 97, peak jitter 0/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2771156533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:15:48 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17247, writes 0 timeouts 0
2025-04-24 16:15:48 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36079/37118
2025-04-24 16:15:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9376, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:48 [info] currentZPosition:0.142
2025-04-24 16:15:49 [debug] Stopped at height 0.144 mm
2025-04-24 16:15:49 [debug] Diagnostics for board 50:
2025-04-24 16:15:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:54 ago, cause: software
2025-04-24 16:15:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:49 [debug] Moves scheduled 49430, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9868, max=15000
Sync err accum 106, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2770120314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:15:49 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17401, writes 0 timeouts 0
2025-04-24 16:15:49 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36038/37170
2025-04-24 16:15:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:49 [info] currentZPosition:0.144
2025-04-24 16:15:50 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:50 [debug] Diagnostics for board 50:
2025-04-24 16:15:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:55 ago, cause: software
2025-04-24 16:15:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:50 [debug] Moves scheduled 49434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 112, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2769085961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:50 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17349, writes 0 timeouts 0
2025-04-24 16:15:50 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36068/37125
2025-04-24 16:15:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:50 [info] currentZPosition:0.143
2025-04-24 16:15:52 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:52 [debug] Diagnostics for board 50:
2025-04-24 16:15:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:57 ago, cause: software
2025-04-24 16:15:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:52 [debug] Moves scheduled 49438, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 114, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2768030730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:15:52 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17717, writes 0 timeouts 0
2025-04-24 16:15:52 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36100/37098
2025-04-24 16:15:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9370, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:52 [info] currentZPosition:0.143
2025-04-24 16:15:53 [debug] Stopped at height 0.144 mm
2025-04-24 16:15:53 [debug] Diagnostics for board 50:
2025-04-24 16:15:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:17:58 ago, cause: software
2025-04-24 16:15:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:53 [debug] Moves scheduled 49442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 114, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2767018574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:53 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16990, writes 0 timeouts 0
2025-04-24 16:15:53 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36097/37145
2025-04-24 16:15:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9273, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:53 [info] currentZPosition:0.144
2025-04-24 16:15:55 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:55 [debug] Diagnostics for board 50:
2025-04-24 16:15:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:17:59 ago, cause: software
2025-04-24 16:15:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:55 [debug] Moves scheduled 49446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2765952319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:15:55 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17884, writes 0 timeouts 0
2025-04-24 16:15:55 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36054/37164
2025-04-24 16:15:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:55 [info] currentZPosition:0.143
2025-04-24 16:15:56 [debug] Stopped at height 0.144 mm
2025-04-24 16:15:56 [debug] Diagnostics for board 50:
2025-04-24 16:15:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:01 ago, cause: software
2025-04-24 16:15:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:56 [debug] Moves scheduled 49450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 104, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2764939899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:15:56 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17012, writes 0 timeouts 0
2025-04-24 16:15:56 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36071/37122
2025-04-24 16:15:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9283, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:56 [info] currentZPosition:0.144
2025-04-24 16:15:57 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:57 [debug] Diagnostics for board 50:
2025-04-24 16:15:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:02 ago, cause: software
2025-04-24 16:15:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:57 [debug] Moves scheduled 49454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2763859233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:15:57 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18122, writes 0 timeouts 0
2025-04-24 16:15:57 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36091/37171
2025-04-24 16:15:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9397, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:57 [info] currentZPosition:0.143
2025-04-24 16:15:58 [debug] Stopped at height 0.142 mm
2025-04-24 16:15:59 [debug] Stopped at height 0.143 mm
2025-04-24 16:15:59 [debug] Diagnostics for board 50:
2025-04-24 16:15:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:15:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:04 ago, cause: software
2025-04-24 16:15:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:15:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:15:59 [debug] Moves scheduled 49460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 81, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2762611393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.6C, max
2025-04-24 16:15:59 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20939, writes 0 timeouts 0
2025-04-24 16:15:59 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36096/37127
2025-04-24 16:15:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:15:59 [info] currentZPosition:0.143
2025-04-24 16:16:00 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:00 [debug] Diagnostics for board 50:
2025-04-24 16:16:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:05 ago, cause: software
2025-04-24 16:16:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:00 [debug] Moves scheduled 49464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2761564645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:16:00 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17571, writes 0 timeouts 0
2025-04-24 16:16:00 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36030/37084
2025-04-24 16:16:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:00 [info] currentZPosition:0.144
2025-04-24 16:16:02 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:02 [debug] Diagnostics for board 50:
2025-04-24 16:16:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:18:07 ago, cause: software
2025-04-24 16:16:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:02 [debug] Moves scheduled 49468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2760520733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:16:02 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17511, writes 0 timeouts 0
2025-04-24 16:16:02 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36072/37099
2025-04-24 16:16:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:02 [info] currentZPosition:0.143
2025-04-24 16:16:03 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:03 [debug] Diagnostics for board 50:
2025-04-24 16:16:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:08 ago, cause: software
2025-04-24 16:16:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:03 [debug] Moves scheduled 49472, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2759467524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:16:03 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17669, writes 0 timeouts 0
2025-04-24 16:16:03 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36094/37130
2025-04-24 16:16:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:03 [info] currentZPosition:0.143
2025-04-24 16:16:05 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:05 [debug] Diagnostics for board 50:
2025-04-24 16:16:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:09 ago, cause: software
2025-04-24 16:16:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:05 [debug] Moves scheduled 49476, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2758451266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:16:05 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17057, writes 0 timeouts 0
2025-04-24 16:16:05 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36104/37140
2025-04-24 16:16:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9367, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:05 [info] currentZPosition:0.143
2025-04-24 16:16:06 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:06 [debug] Diagnostics for board 50:
2025-04-24 16:16:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:11 ago, cause: software
2025-04-24 16:16:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:06 [debug] Moves scheduled 49480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9868, max=15306
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2757399806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:16:06 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17638, writes 0 timeouts 0
2025-04-24 16:16:06 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36075/37159
2025-04-24 16:16:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:06 [info] currentZPosition:0.143
2025-04-24 16:16:07 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:07 [debug] Diagnostics for board 50:
2025-04-24 16:16:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:12 ago, cause: software
2025-04-24 16:16:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:07 [debug] Moves scheduled 49484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2756392999 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:16:07 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16905, writes 0 timeouts 0
2025-04-24 16:16:07 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36079/37152
2025-04-24 16:16:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:07 [info] currentZPosition:0.144
2025-04-24 16:16:09 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:09 [debug] Diagnostics for board 50:
2025-04-24 16:16:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:18:14 ago, cause: software
2025-04-24 16:16:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:09 [debug] Moves scheduled 49488, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2755319894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:16:09 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18007, writes 0 timeouts 0
2025-04-24 16:16:09 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36032/37128
2025-04-24 16:16:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:09 [info] currentZPosition:0.143
2025-04-24 16:16:10 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:10 [debug] Diagnostics for board 50:
2025-04-24 16:16:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:15 ago, cause: software
2025-04-24 16:16:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:10 [debug] Moves scheduled 49492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2754314897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:10 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16884, writes 0 timeouts 0
2025-04-24 16:16:10 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36090/37077
2025-04-24 16:16:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 835
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:10 [info] currentZPosition:0.144
2025-04-24 16:16:11 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:11 [debug] Diagnostics for board 50:
2025-04-24 16:16:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:16 ago, cause: software
2025-04-24 16:16:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:11 [debug] Moves scheduled 49496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 86, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2753252635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:11 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17821, writes 0 timeouts 0
2025-04-24 16:16:11 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36049/37102
2025-04-24 16:16:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:12 [info] currentZPosition:0.144
2025-04-24 16:16:13 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:13 [debug] Diagnostics for board 50:
2025-04-24 16:16:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:18 ago, cause: software
2025-04-24 16:16:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:13 [debug] Moves scheduled 49500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2752225728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:16:13 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17229, writes 0 timeouts 0
2025-04-24 16:16:13 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 344, adv 36106/37123
2025-04-24 16:16:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:13 [info] currentZPosition:0.144
2025-04-24 16:16:14 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:14 [debug] Diagnostics for board 50:
2025-04-24 16:16:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:19 ago, cause: software
2025-04-24 16:16:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:14 [debug] Moves scheduled 49504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2751157982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:16:14 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17902, writes 0 timeouts 0
2025-04-24 16:16:14 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36055/37117
2025-04-24 16:16:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:14 [info] currentZPosition:0.143
2025-04-24 16:16:16 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:16 [debug] Diagnostics for board 50:
2025-04-24 16:16:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:21 ago, cause: software
2025-04-24 16:16:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:16 [debug] Moves scheduled 49508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -3/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2750147141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:16:16 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16973, writes 0 timeouts 0
2025-04-24 16:16:16 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36110/37123
2025-04-24 16:16:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:16 [info] currentZPosition:0.144
2025-04-24 16:16:17 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:17 [debug] Diagnostics for board 50:
2025-04-24 16:16:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:18:22 ago, cause: software
2025-04-24 16:16:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:17 [debug] Moves scheduled 49512, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 84, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2749082652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:16:17 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17853, writes 0 timeouts 0
2025-04-24 16:16:17 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36056/37096
2025-04-24 16:16:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:17 [info] currentZPosition:0.143
2025-04-24 16:16:18 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:18 [debug] Diagnostics for board 50:
2025-04-24 16:16:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:23 ago, cause: software
2025-04-24 16:16:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:18 [debug] Moves scheduled 49516, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2748075912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:16:18 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16889, writes 0 timeouts 0
2025-04-24 16:16:18 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36055/37112
2025-04-24 16:16:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9321, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:18 [info] currentZPosition:0.144
2025-04-24 16:16:20 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:20 [debug] Diagnostics for board 50:
2025-04-24 16:16:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:25 ago, cause: software
2025-04-24 16:16:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:20 [debug] Moves scheduled 49520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 104, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2747022932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:20 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17693, writes 0 timeouts 0
2025-04-24 16:16:20 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36014/37113
2025-04-24 16:16:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:20 [info] currentZPosition:0.144
2025-04-24 16:16:21 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:21 [debug] Diagnostics for board 50:
2025-04-24 16:16:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:26 ago, cause: software
2025-04-24 16:16:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:21 [debug] Moves scheduled 49524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2745996423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:16:21 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17219, writes 0 timeouts 0
2025-04-24 16:16:21 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36086/37074
2025-04-24 16:16:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:21 [info] currentZPosition:0.144
2025-04-24 16:16:23 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:23 [debug] Diagnostics for board 50:
2025-04-24 16:16:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:28 ago, cause: software
2025-04-24 16:16:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:23 [debug] Moves scheduled 49528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 113, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2744907868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:16:23 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18272, writes 0 timeouts 0
2025-04-24 16:16:23 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36045/37118
2025-04-24 16:16:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9404, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:23 [info] currentZPosition:0.143
2025-04-24 16:16:23 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:24 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:24 [debug] Diagnostics for board 50:
2025-04-24 16:16:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:29 ago, cause: software
2025-04-24 16:16:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:24 [debug] Moves scheduled 49534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 114, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2743664554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:16:24 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20861, writes 0 timeouts 0
2025-04-24 16:16:24 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36061/37120
2025-04-24 16:16:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:24 [info] currentZPosition:0.143
2025-04-24 16:16:26 [debug] Stopped at height 0.145 mm
2025-04-24 16:16:26 [debug] Diagnostics for board 50:
2025-04-24 16:16:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:31 ago, cause: software
2025-04-24 16:16:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:26 [debug] Moves scheduled 49538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2742634770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:16:26 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17285, writes 0 timeouts 0
2025-04-24 16:16:26 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35988/37107
2025-04-24 16:16:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:26 [info] currentZPosition:0.145
2025-04-24 16:16:26 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:27 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:27 [debug] Diagnostics for board 50:
2025-04-24 16:16:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:18:32 ago, cause: software
2025-04-24 16:16:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:27 [debug] Moves scheduled 49544, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 106, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2741359315 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:16:27 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21394, writes 0 timeouts 0
2025-04-24 16:16:27 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36103/37121
2025-04-24 16:16:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9399, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:27 [info] currentZPosition:0.143
2025-04-24 16:16:29 [debug] Stopped at height 0.145 mm
2025-04-24 16:16:29 [debug] Diagnostics for board 50:
2025-04-24 16:16:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:18:34 ago, cause: software
2025-04-24 16:16:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:29 [debug] Moves scheduled 49548, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 92, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2740320681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:16:29 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17429, writes 0 timeouts 0
2025-04-24 16:16:29 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36040/37133
2025-04-24 16:16:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9270, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:29 [info] currentZPosition:0.145
2025-04-24 16:16:30 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:30 [debug] Diagnostics for board 50:
2025-04-24 16:16:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:35 ago, cause: software
2025-04-24 16:16:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:30 [debug] Moves scheduled 49552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 81, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2739290438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:16:30 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17318, writes 0 timeouts 0
2025-04-24 16:16:30 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36093/37116
2025-04-24 16:16:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:30 [info] currentZPosition:0.144
2025-04-24 16:16:31 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:31 [debug] Diagnostics for board 50:
2025-04-24 16:16:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:36 ago, cause: software
2025-04-24 16:16:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:31 [debug] Moves scheduled 49556, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 63, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2738233698 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:16:31 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17722, writes 0 timeouts 0
2025-04-24 16:16:31 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36016/37105
2025-04-24 16:16:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:32 [info] currentZPosition:0.144
2025-04-24 16:16:33 [debug] Stopped at height 0.145 mm
2025-04-24 16:16:33 [debug] Diagnostics for board 50:
2025-04-24 16:16:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:38 ago, cause: software
2025-04-24 16:16:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:33 [debug] Moves scheduled 49560, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15306
Sync err accum 65, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2737214551 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:33 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17107, writes 0 timeouts 0
2025-04-24 16:16:33 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36091/37080
2025-04-24 16:16:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:33 [info] currentZPosition:0.145
2025-04-24 16:16:34 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:34 [debug] Diagnostics for board 50:
2025-04-24 16:16:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:39 ago, cause: software
2025-04-24 16:16:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:34 [debug] Moves scheduled 49564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 78, peak jitter 1/4, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2736140477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:16:34 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18033, writes 0 timeouts 0
2025-04-24 16:16:34 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36020/37114
2025-04-24 16:16:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:34 [info] currentZPosition:0.144
2025-04-24 16:16:36 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:36 [debug] Diagnostics for board 50:
2025-04-24 16:16:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:41 ago, cause: software
2025-04-24 16:16:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:36 [debug] Moves scheduled 49568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2735126472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:16:36 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17011, writes 0 timeouts 0
2025-04-24 16:16:36 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36253/37078
2025-04-24 16:16:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9387, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:36 [info] currentZPosition:0.144
2025-04-24 16:16:37 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:37 [debug] Diagnostics for board 50:
2025-04-24 16:16:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:42 ago, cause: software
2025-04-24 16:16:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:37 [debug] Moves scheduled 49572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2734066263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:16:37 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17786, writes 0 timeouts 0
2025-04-24 16:16:37 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36020/37134
2025-04-24 16:16:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:37 [info] currentZPosition:0.143
2025-04-24 16:16:38 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:38 [debug] Diagnostics for board 50:
2025-04-24 16:16:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:43 ago, cause: software
2025-04-24 16:16:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:38 [debug] Moves scheduled 49576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2733054710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:16:38 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16991, writes 0 timeouts 0
2025-04-24 16:16:38 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36319/37107
2025-04-24 16:16:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:39 [info] currentZPosition:0.144
2025-04-24 16:16:40 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:40 [debug] Diagnostics for board 50:
2025-04-24 16:16:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:45 ago, cause: software
2025-04-24 16:16:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:40 [debug] Moves scheduled 49580, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 96, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2731998493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:16:40 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17709, writes 0 timeouts 0
2025-04-24 16:16:40 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 441, adv 36050/37123
2025-04-24 16:16:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9315, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:40 [info] currentZPosition:0.144
2025-04-24 16:16:41 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:41 [debug] Diagnostics for board 50:
2025-04-24 16:16:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:46 ago, cause: software
2025-04-24 16:16:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:41 [debug] Moves scheduled 49584, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2730970782 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:41 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17248, writes 0 timeouts 0
2025-04-24 16:16:41 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36341/37136
2025-04-24 16:16:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:41 [info] currentZPosition:0.144
2025-04-24 16:16:43 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:43 [debug] Diagnostics for board 50:
2025-04-24 16:16:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:48 ago, cause: software
2025-04-24 16:16:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:43 [debug] Moves scheduled 49588, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 89, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2729908747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:16:43 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17836, writes 0 timeouts 0
2025-04-24 16:16:43 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36056/37162
2025-04-24 16:16:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9357, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:43 [info] currentZPosition:0.144
2025-04-24 16:16:44 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:44 [debug] Diagnostics for board 50:
2025-04-24 16:16:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:49 ago, cause: software
2025-04-24 16:16:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:44 [debug] Moves scheduled 49592, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2728884254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:44 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17181, writes 0 timeouts 0
2025-04-24 16:16:44 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36330/37133
2025-04-24 16:16:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:44 [info] currentZPosition:0.143
2025-04-24 16:16:45 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:45 [debug] Diagnostics for board 50:
2025-04-24 16:16:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:50 ago, cause: software
2025-04-24 16:16:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:45 [debug] Moves scheduled 49596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2727830295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:16:45 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17683, writes 0 timeouts 0
2025-04-24 16:16:45 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36045/37140
2025-04-24 16:16:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9370, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:45 [info] currentZPosition:0.144
2025-04-24 16:16:47 [debug] Stopped at height 0.145 mm
2025-04-24 16:16:47 [debug] Diagnostics for board 50:
2025-04-24 16:16:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:18:52 ago, cause: software
2025-04-24 16:16:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:47 [debug] Moves scheduled 49600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2726829363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:47 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16828, writes 0 timeouts 0
2025-04-24 16:16:47 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36309/37112
2025-04-24 16:16:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9262, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:47 [info] currentZPosition:0.145
2025-04-24 16:16:48 [debug] Stopped at height 0.145 mm
2025-04-24 16:16:48 [debug] Diagnostics for board 50:
2025-04-24 16:16:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:53 ago, cause: software
2025-04-24 16:16:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:48 [debug] Moves scheduled 49604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 70, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2725772543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:16:48 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17712, writes 0 timeouts 0
2025-04-24 16:16:48 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36030/37145
2025-04-24 16:16:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9281, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:48 [info] currentZPosition:0.145
2025-04-24 16:16:49 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:49 [debug] Diagnostics for board 50:
2025-04-24 16:16:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:18:54 ago, cause: software
2025-04-24 16:16:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:49 [debug] Moves scheduled 49608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2724735781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:49 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17387, writes 0 timeouts 0
2025-04-24 16:16:49 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36388/37117
2025-04-24 16:16:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:50 [info] currentZPosition:0.144
2025-04-24 16:16:51 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:51 [debug] Diagnostics for board 50:
2025-04-24 16:16:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:18:56 ago, cause: software
2025-04-24 16:16:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:51 [debug] Moves scheduled 49612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2723680228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:16:51 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17737, writes 0 timeouts 0
2025-04-24 16:16:51 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36026/37151
2025-04-24 16:16:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:51 [info] currentZPosition:0.144
2025-04-24 16:16:52 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:52 [debug] Diagnostics for board 50:
2025-04-24 16:16:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:18:57 ago, cause: software
2025-04-24 16:16:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:52 [debug] Moves scheduled 49616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2722655620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:16:52 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17162, writes 0 timeouts 0
2025-04-24 16:16:52 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36376/37146
2025-04-24 16:16:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:52 [info] currentZPosition:0.144
2025-04-24 16:16:54 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:54 [debug] Diagnostics for board 50:
2025-04-24 16:16:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:18:59 ago, cause: software
2025-04-24 16:16:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:54 [debug] Moves scheduled 49620, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 68, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2721611171 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:16:54 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17547, writes 0 timeouts 0
2025-04-24 16:16:54 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36003/37098
2025-04-24 16:16:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:54 [info] currentZPosition:0.144
2025-04-24 16:16:55 [debug] Stopped at height 0.145 mm
2025-04-24 16:16:55 [debug] Diagnostics for board 50:
2025-04-24 16:16:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:00 ago, cause: software
2025-04-24 16:16:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:55 [debug] Moves scheduled 49624, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2720599965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:16:55 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16985, writes 0 timeouts 0
2025-04-24 16:16:55 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36294/37122
2025-04-24 16:16:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:55 [info] currentZPosition:0.145
2025-04-24 16:16:56 [debug] Stopped at height 0.143 mm
2025-04-24 16:16:56 [debug] Diagnostics for board 50:
2025-04-24 16:16:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:01 ago, cause: software
2025-04-24 16:16:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:56 [debug] Moves scheduled 49628, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2719507792 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:16:56 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18299, writes 0 timeouts 0
2025-04-24 16:16:56 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36007/37161
2025-04-24 16:16:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9388, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:57 [info] currentZPosition:0.143
2025-04-24 16:16:57 [debug] Stopped at height 0.142 mm
2025-04-24 16:16:58 [debug] Stopped at height 0.144 mm
2025-04-24 16:16:58 [debug] Diagnostics for board 50:
2025-04-24 16:16:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:16:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:03 ago, cause: software
2025-04-24 16:16:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:16:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:16:58 [debug] Moves scheduled 49634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2718248231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:16:58 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21141, writes 0 timeouts 0
2025-04-24 16:16:58 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36313/37105
2025-04-24 16:16:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:16:58 [info] currentZPosition:0.144
2025-04-24 16:17:00 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:00 [debug] Diagnostics for board 50:
2025-04-24 16:17:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:04 ago, cause: software
2025-04-24 16:17:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:00 [debug] Moves scheduled 49638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 64, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2717207270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:17:00 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17493, writes 0 timeouts 0
2025-04-24 16:17:00 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36011/37150
2025-04-24 16:17:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9279, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:00 [info] currentZPosition:0.145
2025-04-24 16:17:01 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:01 [debug] Diagnostics for board 50:
2025-04-24 16:17:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:06 ago, cause: software
2025-04-24 16:17:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:01 [debug] Moves scheduled 49642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15306
Sync err accum 65, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2716180543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:17:01 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17210, writes 0 timeouts 0
2025-04-24 16:17:01 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36314/37136
2025-04-24 16:17:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9278, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:01 [info] currentZPosition:0.145
2025-04-24 16:17:02 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:02 [debug] Diagnostics for board 50:
2025-04-24 16:17:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:07 ago, cause: software
2025-04-24 16:17:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:02 [debug] Moves scheduled 49646, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 64, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2715110726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:02 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17959, writes 0 timeouts 0
2025-04-24 16:17:02 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36033/37127
2025-04-24 16:17:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:02 [info] currentZPosition:0.144
2025-04-24 16:17:04 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:04 [debug] Diagnostics for board 50:
2025-04-24 16:17:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:09 ago, cause: software
2025-04-24 16:17:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:04 [debug] Moves scheduled 49650, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2714077587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:17:04 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17372, writes 0 timeouts 0
2025-04-24 16:17:04 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36377/37147
2025-04-24 16:17:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:04 [info] currentZPosition:0.144
2025-04-24 16:17:05 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:05 [debug] Diagnostics for board 50:
2025-04-24 16:17:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:10 ago, cause: software
2025-04-24 16:17:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:05 [debug] Moves scheduled 49654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 75, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2713013445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:17:05 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17821, writes 0 timeouts 0
2025-04-24 16:17:05 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36038/37136
2025-04-24 16:17:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9352, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:05 [info] currentZPosition:0.143
2025-04-24 16:17:06 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:06 [debug] Diagnostics for board 50:
2025-04-24 16:17:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:11 ago, cause: software
2025-04-24 16:17:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:06 [debug] Moves scheduled 49658, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=72, frequency (Hz): min=9146, max=15000
Sync err accum 79, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2712025958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:06 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16585, writes 0 timeouts 0
2025-04-24 16:17:06 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36293/37146
2025-04-24 16:17:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9248, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:07 [info] currentZPosition:0.145
2025-04-24 16:17:07 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:08 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:08 [debug] Diagnostics for board 50:
2025-04-24 16:17:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:13 ago, cause: software
2025-04-24 16:17:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:08 [debug] Moves scheduled 49664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 74, peak jitter -2/1, peak Rx delay 188, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2710716945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:08 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21955, writes 0 timeouts 0
2025-04-24 16:17:08 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36056/37112
2025-04-24 16:17:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9298, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:08 [info] currentZPosition:0.144
2025-04-24 16:17:10 [debug] Stopped at height 0.146 mm
2025-04-24 16:17:10 [debug] Diagnostics for board 50:
2025-04-24 16:17:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:14 ago, cause: software
2025-04-24 16:17:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:10 [debug] Moves scheduled 49668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2709713249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:17:10 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16844, writes 0 timeouts 0
2025-04-24 16:17:10 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36234/37163
2025-04-24 16:17:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9282, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:10 [info] currentZPosition:0.146
2025-04-24 16:17:11 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:11 [debug] Diagnostics for board 50:
2025-04-24 16:17:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:16 ago, cause: software
2025-04-24 16:17:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:11 [debug] Moves scheduled 49672, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2708648719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 
2025-04-24 16:17:11 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17879, writes 0 timeouts 0
2025-04-24 16:17:11 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36064/37112
2025-04-24 16:17:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9271, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:11 [info] currentZPosition:0.145
2025-04-24 16:17:12 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:12 [debug] Diagnostics for board 50:
2025-04-24 16:17:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:17 ago, cause: software
2025-04-24 16:17:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:12 [debug] Moves scheduled 49676, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2707605518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:17:12 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17489, writes 0 timeouts 0
2025-04-24 16:17:12 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36311/37144
2025-04-24 16:17:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:12 [info] currentZPosition:0.144
2025-04-24 16:17:14 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:14 [debug] Diagnostics for board 50:
2025-04-24 16:17:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:19 ago, cause: software
2025-04-24 16:17:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:14 [debug] Moves scheduled 49680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2706541395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:17:14 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17848, writes 0 timeouts 0
2025-04-24 16:17:14 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36016/37149
2025-04-24 16:17:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:14 [info] currentZPosition:0.144
2025-04-24 16:17:15 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:15 [debug] Diagnostics for board 50:
2025-04-24 16:17:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:20 ago, cause: software
2025-04-24 16:17:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:15 [debug] Moves scheduled 49684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2705510843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:17:15 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17302, writes 0 timeouts 0
2025-04-24 16:17:15 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36360/37115
2025-04-24 16:17:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:15 [info] currentZPosition:0.143
2025-04-24 16:17:16 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:17 [debug] Diagnostics for board 50:
2025-04-24 16:17:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:21 ago, cause: software
2025-04-24 16:17:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:17 [debug] Moves scheduled 49688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2704470858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:17 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17453, writes 0 timeouts 0
2025-04-24 16:17:17 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36018/37154
2025-04-24 16:17:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:17 [info] currentZPosition:0.144
2025-04-24 16:17:18 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:18 [debug] Diagnostics for board 50:
2025-04-24 16:17:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:23 ago, cause: software
2025-04-24 16:17:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:18 [debug] Moves scheduled 49692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2703455241 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:17:18 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17052, writes 0 timeouts 0
2025-04-24 16:17:18 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36323/37119
2025-04-24 16:17:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9299, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:18 [info] currentZPosition:0.145
2025-04-24 16:17:19 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:19 [debug] Diagnostics for board 50:
2025-04-24 16:17:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:24 ago, cause: software
2025-04-24 16:17:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:19 [debug] Moves scheduled 49696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=8928, max=15000
Sync err accum 105, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2702389214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:17:19 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17890, writes 0 timeouts 0
2025-04-24 16:17:19 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36021/37100
2025-04-24 16:17:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:19 [info] currentZPosition:0.144
2025-04-24 16:17:21 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:21 [debug] Diagnostics for board 50:
2025-04-24 16:17:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:26 ago, cause: software
2025-04-24 16:17:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:21 [debug] Moves scheduled 49700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2701372041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:17:21 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17072, writes 0 timeouts 0
2025-04-24 16:17:21 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36385/37081
2025-04-24 16:17:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9311, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:21 [info] currentZPosition:0.145
2025-04-24 16:17:22 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:22 [debug] Diagnostics for board 50:
2025-04-24 16:17:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:27 ago, cause: software
2025-04-24 16:17:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:22 [debug] Moves scheduled 49704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2700291606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:17:22 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18119, writes 0 timeouts 0
2025-04-24 16:17:22 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36015/37117
2025-04-24 16:17:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:22 [info] currentZPosition:0.143
2025-04-24 16:17:23 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:24 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:24 [debug] Diagnostics for board 50:
2025-04-24 16:17:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:29 ago, cause: software
2025-04-24 16:17:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:24 [debug] Moves scheduled 49710, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2699033936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:17:24 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21107, writes 0 timeouts 0
2025-04-24 16:17:24 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36322/37166
2025-04-24 16:17:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9416, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:24 [info] currentZPosition:0.144
2025-04-24 16:17:25 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:25 [debug] Diagnostics for board 50:
2025-04-24 16:17:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:30 ago, cause: software
2025-04-24 16:17:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:25 [debug] Moves scheduled 49714, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 70, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2697993932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:17:25 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17461, writes 0 timeouts 0
2025-04-24 16:17:25 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36061/37143
2025-04-24 16:17:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:25 [info] currentZPosition:0.145
2025-04-24 16:17:27 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:27 [debug] Diagnostics for board 50:
2025-04-24 16:17:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:31 ago, cause: software
2025-04-24 16:17:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:27 [debug] Moves scheduled 49718, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2696969259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:27 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17196, writes 0 timeouts 0
2025-04-24 16:17:27 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 341, adv 36384/37127
2025-04-24 16:17:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9385, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:27 [info] currentZPosition:0.145
2025-04-24 16:17:28 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:28 [debug] Diagnostics for board 50:
2025-04-24 16:17:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:19:33 ago, cause: software
2025-04-24 16:17:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:28 [debug] Moves scheduled 49722, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2695910435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:17:28 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17755, writes 0 timeouts 0
2025-04-24 16:17:28 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36017/37128
2025-04-24 16:17:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:28 [info] currentZPosition:0.145
2025-04-24 16:17:29 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:29 [debug] Diagnostics for board 50:
2025-04-24 16:17:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:29 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:34 ago, cause: software
2025-04-24 16:17:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:29 [debug] Moves scheduled 49726, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 90, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2694891595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:17:29 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17106, writes 0 timeouts 0
2025-04-24 16:17:29 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36187/37100
2025-04-24 16:17:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:29 [info] currentZPosition:0.145
2025-04-24 16:17:31 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:31 [debug] Diagnostics for board 50:
2025-04-24 16:17:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:36 ago, cause: software
2025-04-24 16:17:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:31 [debug] Moves scheduled 49730, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2693835597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:17:31 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17723, writes 0 timeouts 0
2025-04-24 16:17:31 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36003/37150
2025-04-24 16:17:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:31 [info] currentZPosition:0.145
2025-04-24 16:17:32 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:32 [debug] Diagnostics for board 50:
2025-04-24 16:17:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:37 ago, cause: software
2025-04-24 16:17:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:32 [debug] Moves scheduled 49734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2692822419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:17:32 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17016, writes 0 timeouts 0
2025-04-24 16:17:32 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36062/37127
2025-04-24 16:17:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:32 [info] currentZPosition:0.145
2025-04-24 16:17:33 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:33 [debug] Diagnostics for board 50:
2025-04-24 16:17:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:38 ago, cause: software
2025-04-24 16:17:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:33 [debug] Moves scheduled 49738, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2691757998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:17:33 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17859, writes 0 timeouts 0
2025-04-24 16:17:33 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36045/37144
2025-04-24 16:17:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:34 [info] currentZPosition:0.145
2025-04-24 16:17:35 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:35 [debug] Diagnostics for board 50:
2025-04-24 16:17:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:40 ago, cause: software
2025-04-24 16:17:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:35 [debug] Moves scheduled 49742, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2690726015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:17:35 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17318, writes 0 timeouts 0
2025-04-24 16:17:35 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36114/37110
2025-04-24 16:17:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9346, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:35 [info] currentZPosition:0.145
2025-04-24 16:17:36 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:36 [debug] Diagnostics for board 50:
2025-04-24 16:17:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:41 ago, cause: software
2025-04-24 16:17:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:36 [debug] Moves scheduled 49746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2689664987 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:17:36 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17824, writes 0 timeouts 0
2025-04-24 16:17:36 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36017/37118
2025-04-24 16:17:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:36 [info] currentZPosition:0.144
2025-04-24 16:17:38 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:38 [debug] Diagnostics for board 50:
2025-04-24 16:17:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:43 ago, cause: software
2025-04-24 16:17:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:38 [debug] Moves scheduled 49750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 94, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2688657272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:17:38 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16904, writes 0 timeouts 0
2025-04-24 16:17:38 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36095/37107
2025-04-24 16:17:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:38 [info] currentZPosition:0.145
2025-04-24 16:17:39 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:39 [debug] Diagnostics for board 50:
2025-04-24 16:17:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:44 ago, cause: software
2025-04-24 16:17:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:39 [debug] Moves scheduled 49754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2687597980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:17:39 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17783, writes 0 timeouts 0
2025-04-24 16:17:39 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36025/37138
2025-04-24 16:17:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:39 [info] currentZPosition:0.145
2025-04-24 16:17:40 [debug] Stopped at height 0.146 mm
2025-04-24 16:17:40 [debug] Diagnostics for board 50:
2025-04-24 16:17:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:45 ago, cause: software
2025-04-24 16:17:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:40 [debug] Moves scheduled 49758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2686584656 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:17:40 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17003, writes 0 timeouts 0
2025-04-24 16:17:40 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36088/37167
2025-04-24 16:17:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9251, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:40 [info] currentZPosition:0.146
2025-04-24 16:17:42 [debug] Stopped at height 0.146 mm
2025-04-24 16:17:42 [debug] Diagnostics for board 50:
2025-04-24 16:17:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:19:47 ago, cause: software
2025-04-24 16:17:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:42 [debug] Moves scheduled 49762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2685531398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:17:42 [debug] Driver 0: pos -3546, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17676, writes 0 timeouts 0
2025-04-24 16:17:42 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36003/37143
2025-04-24 16:17:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:42 [info] currentZPosition:0.146
2025-04-24 16:17:43 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:43 [debug] Diagnostics for board 50:
2025-04-24 16:17:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:48 ago, cause: software
2025-04-24 16:17:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:43 [debug] Moves scheduled 49766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2684491269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:17:43 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17445, writes 0 timeouts 0
2025-04-24 16:17:43 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36110/37114
2025-04-24 16:17:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:43 [info] currentZPosition:0.145
2025-04-24 16:17:45 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:45 [debug] Diagnostics for board 50:
2025-04-24 16:17:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:49 ago, cause: software
2025-04-24 16:17:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:45 [debug] Moves scheduled 49770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2683417640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:17:45 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18013, writes 0 timeouts 0
2025-04-24 16:17:45 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36052/37076
2025-04-24 16:17:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9429, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:45 [info] currentZPosition:0.144
2025-04-24 16:17:46 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:46 [debug] Diagnostics for board 50:
2025-04-24 16:17:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:51 ago, cause: software
2025-04-24 16:17:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:46 [debug] Moves scheduled 49774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 110, peak jitter 2/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2682416058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:17:46 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16819, writes 0 timeouts 0
2025-04-24 16:17:46 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36070/37123
2025-04-24 16:17:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:46 [info] currentZPosition:0.145
2025-04-24 16:17:47 [debug] Stopped at height 0.144 mm
2025-04-24 16:17:47 [debug] Diagnostics for board 50:
2025-04-24 16:17:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:52 ago, cause: software
2025-04-24 16:17:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:47 [debug] Moves scheduled 49778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 123, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2681348358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:47 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17912, writes 0 timeouts 0
2025-04-24 16:17:47 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36021/37159
2025-04-24 16:17:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:47 [info] currentZPosition:0.144
2025-04-24 16:17:49 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:49 [debug] Diagnostics for board 50:
2025-04-24 16:17:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:54 ago, cause: software
2025-04-24 16:17:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:49 [debug] Moves scheduled 49782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 129, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2680333309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:17:49 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17031, writes 0 timeouts 0
2025-04-24 16:17:49 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36110/37157
2025-04-24 16:17:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:49 [info] currentZPosition:0.145
2025-04-24 16:17:50 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:50 [debug] Diagnostics for board 50:
2025-04-24 16:17:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:55 ago, cause: software
2025-04-24 16:17:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:50 [debug] Moves scheduled 49786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 116, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2679280347 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 16:17:50 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17682, writes 0 timeouts 0
2025-04-24 16:17:50 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36026/37147
2025-04-24 16:17:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:50 [info] currentZPosition:0.145
2025-04-24 16:17:51 [debug] Stopped at height 0.146 mm
2025-04-24 16:17:51 [debug] Diagnostics for board 50:
2025-04-24 16:17:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:19:56 ago, cause: software
2025-04-24 16:17:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:51 [debug] Moves scheduled 49790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 101, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2678275072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 16:17:51 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16877, writes 0 timeouts 0
2025-04-24 16:17:51 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36070/37126
2025-04-24 16:17:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9284, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:52 [info] currentZPosition:0.146
2025-04-24 16:17:53 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:53 [debug] Diagnostics for board 50:
2025-04-24 16:17:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:19:58 ago, cause: software
2025-04-24 16:17:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:53 [debug] Moves scheduled 49794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter -4/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2677203798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:17:53 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17972, writes 0 timeouts 0
2025-04-24 16:17:53 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36034/37092
2025-04-24 16:17:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:53 [info] currentZPosition:0.145
2025-04-24 16:17:54 [debug] Stopped at height 0.146 mm
2025-04-24 16:17:54 [debug] Diagnostics for board 50:
2025-04-24 16:17:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:19:59 ago, cause: software
2025-04-24 16:17:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:54 [debug] Moves scheduled 49798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 71, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2676203759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:17:54 [debug] Driver 0: pos -3544, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16783, writes 0 timeouts 0
2025-04-24 16:17:54 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 36163/37136
2025-04-24 16:17:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:54 [info] currentZPosition:0.146
2025-04-24 16:17:56 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:56 [debug] Diagnostics for board 50:
2025-04-24 16:17:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:01 ago, cause: software
2025-04-24 16:17:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:56 [debug] Moves scheduled 49802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 61, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2675094994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:56 [debug] Driver 0: pos -3574, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18592, writes 0 timeouts 0
2025-04-24 16:17:56 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36023/37170
2025-04-24 16:17:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 850
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9433, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:56 [info] currentZPosition:0.143
2025-04-24 16:17:56 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:57 [debug] Stopped at height 0.145 mm
2025-04-24 16:17:57 [debug] Diagnostics for board 50:
2025-04-24 16:17:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:02 ago, cause: software
2025-04-24 16:17:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:57 [debug] Moves scheduled 49808, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 81, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2673860193 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:17:57 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20735, writes 0 timeouts 0
2025-04-24 16:17:57 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36129/37116
2025-04-24 16:17:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9359, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:57 [info] currentZPosition:0.145
2025-04-24 16:17:58 [debug] Stopped at height 0.143 mm
2025-04-24 16:17:59 [debug] Stopped at height 0.146 mm
2025-04-24 16:17:59 [debug] Diagnostics for board 50:
2025-04-24 16:17:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:17:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:04 ago, cause: software
2025-04-24 16:17:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:17:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:17:59 [debug] Moves scheduled 49814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 100, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2672580894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:17:59 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21466, writes 0 timeouts 0
2025-04-24 16:17:59 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36070/37158
2025-04-24 16:17:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:17:59 [info] currentZPosition:0.146
2025-04-24 16:17:59 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:01 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:01 [debug] Diagnostics for board 50:
2025-04-24 16:18:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:06 ago, cause: software
2025-04-24 16:18:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:01 [debug] Moves scheduled 49820, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 112, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2671318790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:01 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21202, writes 0 timeouts 0
2025-04-24 16:18:01 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36106/37141
2025-04-24 16:18:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:01 [info] currentZPosition:0.145
2025-04-24 16:18:02 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:02 [debug] Diagnostics for board 50:
2025-04-24 16:18:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:07 ago, cause: software
2025-04-24 16:18:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:02 [debug] Moves scheduled 49824, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 119, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2670283233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:02 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17349, writes 0 timeouts 0
2025-04-24 16:18:02 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36051/37170
2025-04-24 16:18:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:02 [info] currentZPosition:0.146
2025-04-24 16:18:03 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:03 [debug] Diagnostics for board 50:
2025-04-24 16:18:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:08 ago, cause: software
2025-04-24 16:18:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:03 [debug] Moves scheduled 49828, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 122, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2669254588 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:03 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17259, writes 0 timeouts 0
2025-04-24 16:18:03 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36071/37159
2025-04-24 16:18:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:04 [info] currentZPosition:0.146
2025-04-24 16:18:05 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:05 [debug] Diagnostics for board 50:
2025-04-24 16:18:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:20:10 ago, cause: software
2025-04-24 16:18:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:05 [debug] Moves scheduled 49832, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 121, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2668169496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:18:05 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18229, writes 0 timeouts 0
2025-04-24 16:18:05 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 411, adv 35980/37112
2025-04-24 16:18:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9430, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:05 [info] currentZPosition:0.144
2025-04-24 16:18:05 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:07 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:07 [debug] Diagnostics for board 50:
2025-04-24 16:18:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:20:11 ago, cause: software
2025-04-24 16:18:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:07 [debug] Moves scheduled 49838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 119, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2666942169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:18:07 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20583, writes 0 timeouts 0
2025-04-24 16:18:07 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36063/37153
2025-04-24 16:18:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9268, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:07 [info] currentZPosition:0.146
2025-04-24 16:18:07 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:08 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:08 [debug] Diagnostics for board 50:
2025-04-24 16:18:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:13 ago, cause: software
2025-04-24 16:18:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:08 [debug] Moves scheduled 49844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 110, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2665637612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:18:08 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21880, writes 0 timeouts 0
2025-04-24 16:18:08 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36043/37162
2025-04-24 16:18:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9297, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:08 [info] currentZPosition:0.146
2025-04-24 16:18:10 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:10 [debug] Diagnostics for board 50:
2025-04-24 16:18:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:15 ago, cause: software
2025-04-24 16:18:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:10 [debug] Moves scheduled 49848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 100, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2664609516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:18:10 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17271, writes 0 timeouts 0
2025-04-24 16:18:10 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36113/37088
2025-04-24 16:18:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:10 [info] currentZPosition:0.145
2025-04-24 16:18:11 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:11 [debug] Diagnostics for board 50:
2025-04-24 16:18:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:16 ago, cause: software
2025-04-24 16:18:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:11 [debug] Moves scheduled 49852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 86, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2663564956 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:18:11 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17521, writes 0 timeouts 0
2025-04-24 16:18:11 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36041/37167
2025-04-24 16:18:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:11 [info] currentZPosition:0.146
2025-04-24 16:18:12 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:12 [debug] Diagnostics for board 50:
2025-04-24 16:18:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:17 ago, cause: software
2025-04-24 16:18:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:12 [debug] Moves scheduled 49856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2662552843 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-24 16:18:12 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16989, writes 0 timeouts 0
2025-04-24 16:18:12 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36111/37152
2025-04-24 16:18:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9308, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:13 [info] currentZPosition:0.146
2025-04-24 16:18:14 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:14 [debug] Diagnostics for board 50:
2025-04-24 16:18:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:19 ago, cause: software
2025-04-24 16:18:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:14 [debug] Moves scheduled 49860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 61, peak jitter -3/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2661456891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:14 [debug] Driver 0: pos -3572, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18408, writes 0 timeouts 0
2025-04-24 16:18:14 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36038/37168
2025-04-24 16:18:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 850
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9434, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:14 [info] currentZPosition:0.144
2025-04-24 16:18:14 [debug] Stopped at height 0.143 mm
2025-04-24 16:18:16 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:16 [debug] Diagnostics for board 50:
2025-04-24 16:18:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:20 ago, cause: software
2025-04-24 16:18:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:16 [debug] Moves scheduled 49866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 74, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2660199967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:18:16 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21074, writes 0 timeouts 0
2025-04-24 16:18:16 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36110/37127
2025-04-24 16:18:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9362, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:16 [info] currentZPosition:0.145
2025-04-24 16:18:16 [debug] Stopped at height 0.143 mm
2025-04-24 16:18:17 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:17 [debug] Diagnostics for board 50:
2025-04-24 16:18:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:20:22 ago, cause: software
2025-04-24 16:18:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:17 [debug] Moves scheduled 49872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2658920053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:18:17 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21475, writes 0 timeouts 0
2025-04-24 16:18:17 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36020/37160
2025-04-24 16:18:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9350, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:17 [info] currentZPosition:0.145
2025-04-24 16:18:18 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:19 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:19 [debug] Diagnostics for board 50:
2025-04-24 16:18:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:24 ago, cause: software
2025-04-24 16:18:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:19 [debug] Moves scheduled 49878, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2657675944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:18:19 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20880, writes 0 timeouts 0
2025-04-24 16:18:19 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36084/37124
2025-04-24 16:18:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:19 [info] currentZPosition:0.146
2025-04-24 16:18:19 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:21 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:21 [debug] Diagnostics for board 50:
2025-04-24 16:18:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:26 ago, cause: software
2025-04-24 16:18:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:21 [debug] Moves scheduled 49884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2656390836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:18:21 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21571, writes 0 timeouts 0
2025-04-24 16:18:21 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36080/37159
2025-04-24 16:18:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:21 [info] currentZPosition:0.146
2025-04-24 16:18:21 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:22 [debug] Stopped at height 0.147 mm
2025-04-24 16:18:22 [debug] Diagnostics for board 50:
2025-04-24 16:18:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:27 ago, cause: software
2025-04-24 16:18:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:22 [debug] Moves scheduled 49890, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2655140506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:18:22 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20980, writes 0 timeouts 0
2025-04-24 16:18:22 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36062/37114
2025-04-24 16:18:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:22 [info] currentZPosition:0.147
2025-04-24 16:18:23 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:24 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:24 [debug] Diagnostics for board 50:
2025-04-24 16:18:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:29 ago, cause: software
2025-04-24 16:18:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:24 [debug] Moves scheduled 49896, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2653826678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:24 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22063, writes 0 timeouts 0
2025-04-24 16:18:24 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36057/37139
2025-04-24 16:18:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9357, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:24 [info] currentZPosition:0.145
2025-04-24 16:18:25 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:25 [debug] Diagnostics for board 50:
2025-04-24 16:18:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:20:30 ago, cause: software
2025-04-24 16:18:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:25 [debug] Moves scheduled 49900, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2652799106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:25 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17253, writes 0 timeouts 0
2025-04-24 16:18:25 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36176/37126
2025-04-24 16:18:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:26 [info] currentZPosition:0.145
2025-04-24 16:18:27 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:27 [debug] Diagnostics for board 50:
2025-04-24 16:18:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:32 ago, cause: software
2025-04-24 16:18:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:27 [debug] Moves scheduled 49904, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2651735631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:18:27 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17822, writes 0 timeouts 0
2025-04-24 16:18:27 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 346, adv 36066/37120
2025-04-24 16:18:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9406, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:27 [info] currentZPosition:0.145
2025-04-24 16:18:28 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:28 [debug] Diagnostics for board 50:
2025-04-24 16:18:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:33 ago, cause: software
2025-04-24 16:18:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:28 [debug] Moves scheduled 49908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2650727133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:18:28 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16938, writes 0 timeouts 0
2025-04-24 16:18:28 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36296/37123
2025-04-24 16:18:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9353, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:28 [info] currentZPosition:0.145
2025-04-24 16:18:30 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:30 [debug] Diagnostics for board 50:
2025-04-24 16:18:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:35 ago, cause: software
2025-04-24 16:18:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:30 [debug] Moves scheduled 49912, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2649659874 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:30 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17899, writes 0 timeouts 0
2025-04-24 16:18:30 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35882/37114
2025-04-24 16:18:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:30 [info] currentZPosition:0.145
2025-04-24 16:18:31 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:31 [debug] Diagnostics for board 50:
2025-04-24 16:18:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:36 ago, cause: software
2025-04-24 16:18:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:31 [debug] Moves scheduled 49916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 76, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2648649897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:31 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16970, writes 0 timeouts 0
2025-04-24 16:18:31 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36302/37164
2025-04-24 16:18:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9373, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:31 [info] currentZPosition:0.146
2025-04-24 16:18:32 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:32 [debug] Diagnostics for board 50:
2025-04-24 16:18:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:32 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:37 ago, cause: software
2025-04-24 16:18:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:32 [debug] Moves scheduled 49920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2647585582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:32 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17839, writes 0 timeouts 0
2025-04-24 16:18:32 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36044/37143
2025-04-24 16:18:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9389, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:32 [info] currentZPosition:0.146
2025-04-24 16:18:34 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:34 [debug] Diagnostics for board 50:
2025-04-24 16:18:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:39 ago, cause: software
2025-04-24 16:18:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:34 [debug] Moves scheduled 49924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8823, max=15000
Sync err accum 64, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2646574191 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:34 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16980, writes 0 timeouts 0
2025-04-24 16:18:34 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36326/37130
2025-04-24 16:18:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:34 [info] currentZPosition:0.146
2025-04-24 16:18:35 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:35 [debug] Diagnostics for board 50:
2025-04-24 16:18:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:40 ago, cause: software
2025-04-24 16:18:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:35 [debug] Moves scheduled 49928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 70, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2645507579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:35 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17899, writes 0 timeouts 0
2025-04-24 16:18:35 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36057/37083
2025-04-24 16:18:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:35 [info] currentZPosition:0.146
2025-04-24 16:18:36 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:36 [debug] Diagnostics for board 50:
2025-04-24 16:18:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:41 ago, cause: software
2025-04-24 16:18:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:36 [debug] Moves scheduled 49932, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=767, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2644488203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 35
2025-04-24 16:18:36 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17080, writes 11 timeouts 1
2025-04-24 16:18:36 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36400/37107
2025-04-24 16:18:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:37 [info] currentZPosition:0.146
2025-04-24 16:18:38 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:38 [debug] Diagnostics for board 50:
2025-04-24 16:18:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:20:43 ago, cause: software
2025-04-24 16:18:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:38 [debug] Moves scheduled 49936, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2643407449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:18:38 [debug] Driver 0: pos -3572, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18128, writes 0 timeouts 0
2025-04-24 16:18:38 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36053/37118
2025-04-24 16:18:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9406, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:38 [info] currentZPosition:0.145
2025-04-24 16:18:38 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:40 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:40 [debug] Diagnostics for board 50:
2025-04-24 16:18:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:45 ago, cause: software
2025-04-24 16:18:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:40 [debug] Moves scheduled 49942, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2642145587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:18:40 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21182, writes 0 timeouts 0
2025-04-24 16:18:40 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36335/37168
2025-04-24 16:18:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9428, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 851
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:40 [info] currentZPosition:0.145
2025-04-24 16:18:41 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:41 [debug] Diagnostics for board 50:
2025-04-24 16:18:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:46 ago, cause: software
2025-04-24 16:18:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:41 [debug] Moves scheduled 49946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2641098304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:41 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17575, writes 0 timeouts 0
2025-04-24 16:18:41 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36006/37081
2025-04-24 16:18:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9385, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:41 [info] currentZPosition:0.145
2025-04-24 16:18:42 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:42 [debug] Diagnostics for board 50:
2025-04-24 16:18:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:47 ago, cause: software
2025-04-24 16:18:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:42 [debug] Moves scheduled 49950, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2640089188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:18:42 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16933, writes 0 timeouts 0
2025-04-24 16:18:42 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36335/37123
2025-04-24 16:18:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:42 [info] currentZPosition:0.146
2025-04-24 16:18:44 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:44 [debug] Diagnostics for board 50:
2025-04-24 16:18:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:49 ago, cause: software
2025-04-24 16:18:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:44 [debug] Moves scheduled 49954, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 97, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2639027292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:44 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17810, writes 0 timeouts 0
2025-04-24 16:18:44 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36053/37093
2025-04-24 16:18:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9362, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:44 [info] currentZPosition:0.146
2025-04-24 16:18:45 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:45 [debug] Diagnostics for board 50:
2025-04-24 16:18:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:50 ago, cause: software
2025-04-24 16:18:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:45 [debug] Moves scheduled 49958, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2638005244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:18:45 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17157, writes 0 timeouts 0
2025-04-24 16:18:45 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36339/37123
2025-04-24 16:18:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9337, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:45 [info] currentZPosition:0.146
2025-04-24 16:18:47 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:47 [debug] Diagnostics for board 50:
2025-04-24 16:18:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:51 ago, cause: software
2025-04-24 16:18:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:47 [debug] Moves scheduled 49962, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 80, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2636963607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:18:47 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17480, writes 0 timeouts 0
2025-04-24 16:18:47 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36037/37093
2025-04-24 16:18:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9338, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:47 [info] currentZPosition:0.146
2025-04-24 16:18:48 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:48 [debug] Diagnostics for board 50:
2025-04-24 16:18:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:53 ago, cause: software
2025-04-24 16:18:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:48 [debug] Moves scheduled 49966, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2635933543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:18:48 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17283, writes 0 timeouts 0
2025-04-24 16:18:48 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 36371/37162
2025-04-24 16:18:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9357, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:48 [info] currentZPosition:0.146
2025-04-24 16:18:49 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:49 [debug] Diagnostics for board 50:
2025-04-24 16:18:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:54 ago, cause: software
2025-04-24 16:18:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:49 [debug] Moves scheduled 49970, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 63, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2634877769 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:49 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17729, writes 0 timeouts 0
2025-04-24 16:18:49 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36055/37105
2025-04-24 16:18:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:49 [info] currentZPosition:0.146
2025-04-24 16:18:51 [debug] Stopped at height 0.147 mm
2025-04-24 16:18:51 [debug] Diagnostics for board 50:
2025-04-24 16:18:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:20:56 ago, cause: software
2025-04-24 16:18:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:51 [debug] Moves scheduled 49974, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 78, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2633874135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:18:51 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16854, writes 0 timeouts 0
2025-04-24 16:18:51 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36319/37125
2025-04-24 16:18:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:51 [info] currentZPosition:0.147
2025-04-24 16:18:52 [debug] Stopped at height 0.147 mm
2025-04-24 16:18:52 [debug] Diagnostics for board 50:
2025-04-24 16:18:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:57 ago, cause: software
2025-04-24 16:18:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:52 [debug] Moves scheduled 49978, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2632814606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:18:52 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17791, writes 0 timeouts 0
2025-04-24 16:18:52 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36057/37111
2025-04-24 16:18:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9277, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:52 [info] currentZPosition:0.147
2025-04-24 16:18:53 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:53 [debug] Diagnostics for board 50:
2025-04-24 16:18:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:20:58 ago, cause: software
2025-04-24 16:18:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:53 [debug] Moves scheduled 49982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2631753279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:18:53 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17781, writes 0 timeouts 0
2025-04-24 16:18:53 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36352/37160
2025-04-24 16:18:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9440, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:54 [info] currentZPosition:0.145
2025-04-24 16:18:54 [debug] Stopped at height 0.143 mm
2025-04-24 16:18:54 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:55 [debug] Stopped at height 0.147 mm
2025-04-24 16:18:55 [debug] Diagnostics for board 50:
2025-04-24 16:18:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:00 ago, cause: software
2025-04-24 16:18:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:55 [debug] Moves scheduled 49990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2630257149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:18:55 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25124, writes 0 timeouts 0
2025-04-24 16:18:55 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36020/37125
2025-04-24 16:18:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9327, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:56 [info] currentZPosition:0.147
2025-04-24 16:18:56 [debug] Stopped at height 0.146 mm
2025-04-24 16:18:57 [debug] Stopped at height 0.145 mm
2025-04-24 16:18:57 [debug] Diagnostics for board 50:
2025-04-24 16:18:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:02 ago, cause: software
2025-04-24 16:18:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:57 [debug] Moves scheduled 49996, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 104, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2628953877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:18:57 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21872, writes 0 timeouts 0
2025-04-24 16:18:57 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36331/37170
2025-04-24 16:18:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:57 [info] currentZPosition:0.145
2025-04-24 16:18:59 [debug] Stopped at height 0.144 mm
2025-04-24 16:18:59 [debug] Diagnostics for board 50:
2025-04-24 16:18:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:18:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:04 ago, cause: software
2025-04-24 16:18:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:18:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:18:59 [debug] Moves scheduled 50000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 101, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2627878342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:18:59 [debug] Driver 0: pos -3581, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18043, writes 0 timeouts 0
2025-04-24 16:18:59 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36043/37104
2025-04-24 16:18:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9420, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 850
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:18:59 [info] currentZPosition:0.144
2025-04-24 16:19:00 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:00 [debug] Diagnostics for board 50:
2025-04-24 16:19:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:05 ago, cause: software
2025-04-24 16:19:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:00 [debug] Moves scheduled 50004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2626880596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:00 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16780, writes 0 timeouts 0
2025-04-24 16:19:00 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36344/37142
2025-04-24 16:19:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:00 [info] currentZPosition:0.146
2025-04-24 16:19:00 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:02 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:02 [debug] Diagnostics for board 50:
2025-04-24 16:19:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:07 ago, cause: software
2025-04-24 16:19:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:02 [debug] Moves scheduled 50010, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 90, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2625624933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:02 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21062, writes 0 timeouts 0
2025-04-24 16:19:02 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36039/37149
2025-04-24 16:19:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9300, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:02 [info] currentZPosition:0.148
2025-04-24 16:19:02 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:03 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:03 [debug] Diagnostics for board 50:
2025-04-24 16:19:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:08 ago, cause: software
2025-04-24 16:19:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:03 [debug] Moves scheduled 50016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 76, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2624321437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:19:03 [debug] Driver 0: pos -3573, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21854, writes 0 timeouts 0
2025-04-24 16:19:03 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36368/37169
2025-04-24 16:19:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:03 [info] currentZPosition:0.145
2025-04-24 16:19:05 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:05 [debug] Diagnostics for board 50:
2025-04-24 16:19:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:10 ago, cause: software
2025-04-24 16:19:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:05 [debug] Moves scheduled 50020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15306
Sync err accum 62, peak jitter -3/-2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2623294491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:19:05 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17257, writes 0 timeouts 0
2025-04-24 16:19:05 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 404, adv 36006/37119
2025-04-24 16:19:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4580, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:05 [info] currentZPosition:0.147
2025-04-24 16:19:05 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:06 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:06 [debug] Diagnostics for board 50:
2025-04-24 16:19:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:11 ago, cause: software
2025-04-24 16:19:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:06 [debug] Moves scheduled 50026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 71, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2622033783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:06 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21138, writes 0 timeouts 0
2025-04-24 16:19:06 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36308/37118
2025-04-24 16:19:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:07 [info] currentZPosition:0.146
2025-04-24 16:19:07 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:08 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:08 [debug] Diagnostics for board 50:
2025-04-24 16:19:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:13 ago, cause: software
2025-04-24 16:19:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:08 [debug] Moves scheduled 50032, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 84, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2620723754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:08 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21987, writes 0 timeouts 0
2025-04-24 16:19:08 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36096/37146
2025-04-24 16:19:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:08 [info] currentZPosition:0.145
2025-04-24 16:19:09 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:09 [debug] Diagnostics for board 50:
2025-04-24 16:19:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:21:14 ago, cause: software
2025-04-24 16:19:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:09 [debug] Moves scheduled 50036, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2619731965 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:09 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16665, writes 0 timeouts 0
2025-04-24 16:19:09 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36300/37141
2025-04-24 16:19:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9295, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:10 [info] currentZPosition:0.147
2025-04-24 16:19:10 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:11 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:11 [debug] Diagnostics for board 50:
2025-04-24 16:19:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:21:16 ago, cause: software
2025-04-24 16:19:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:11 [debug] Moves scheduled 50042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2618424595 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:11 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21907, writes 0 timeouts 0
2025-04-24 16:19:11 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 35980/37107
2025-04-24 16:19:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9402, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:11 [info] currentZPosition:0.146
2025-04-24 16:19:13 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:13 [debug] Diagnostics for board 50:
2025-04-24 16:19:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:18 ago, cause: software
2025-04-24 16:19:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:13 [debug] Moves scheduled 50046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 99, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2617401998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:13 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17164, writes 0 timeouts 0
2025-04-24 16:19:13 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36308/37122
2025-04-24 16:19:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9371, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:13 [info] currentZPosition:0.146
2025-04-24 16:19:14 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:14 [debug] Diagnostics for board 50:
2025-04-24 16:19:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:19 ago, cause: software
2025-04-24 16:19:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:14 [debug] Moves scheduled 50050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 98, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2616355274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:14 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17589, writes 0 timeouts 0
2025-04-24 16:19:14 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35993/37105
2025-04-24 16:19:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:14 [info] currentZPosition:0.146
2025-04-24 16:19:15 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:15 [debug] Diagnostics for board 50:
2025-04-24 16:19:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:20 ago, cause: software
2025-04-24 16:19:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:15 [debug] Moves scheduled 50054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2615337321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:19:15 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17040, writes 0 timeouts 0
2025-04-24 16:19:15 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36288/37096
2025-04-24 16:19:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:15 [info] currentZPosition:0.147
2025-04-24 16:19:17 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:17 [debug] Diagnostics for board 50:
2025-04-24 16:19:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:22 ago, cause: software
2025-04-24 16:19:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:17 [debug] Moves scheduled 50058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2614296783 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:19:17 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17482, writes 0 timeouts 0
2025-04-24 16:19:17 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36032/37102
2025-04-24 16:19:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9313, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:17 [info] currentZPosition:0.148
2025-04-24 16:19:18 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:18 [debug] Diagnostics for board 50:
2025-04-24 16:19:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:23 ago, cause: software
2025-04-24 16:19:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:18 [debug] Moves scheduled 50062, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 78, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2613259917 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:19:18 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17394, writes 0 timeouts 0
2025-04-24 16:19:18 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36323/37126
2025-04-24 16:19:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:18 [info] currentZPosition:0.147
2025-04-24 16:19:20 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:20 [debug] Diagnostics for board 50:
2025-04-24 16:19:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:24 ago, cause: software
2025-04-24 16:19:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:20 [debug] Moves scheduled 50066, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 67, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2612208738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:19:20 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17634, writes 0 timeouts 0
2025-04-24 16:19:20 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36018/37113
2025-04-24 16:19:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:20 [info] currentZPosition:0.147
2025-04-24 16:19:21 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:21 [debug] Diagnostics for board 50:
2025-04-24 16:19:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:26 ago, cause: software
2025-04-24 16:19:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:21 [debug] Moves scheduled 50070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2611181092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:21 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17254, writes 0 timeouts 0
2025-04-24 16:19:21 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36211/37115
2025-04-24 16:19:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:21 [info] currentZPosition:0.147
2025-04-24 16:19:22 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:22 [debug] Diagnostics for board 50:
2025-04-24 16:19:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:27 ago, cause: software
2025-04-24 16:19:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:22 [debug] Moves scheduled 50074, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 84, peak jitter 2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2610087458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:19:22 [debug] Driver 0: pos -3575, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18329, writes 0 timeouts 0
2025-04-24 16:19:22 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36040/37148
2025-04-24 16:19:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9423, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:22 [info] currentZPosition:0.145
2025-04-24 16:19:23 [debug] Stopped at height 0.144 mm
2025-04-24 16:19:24 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:24 [debug] Diagnostics for board 50:
2025-04-24 16:19:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:21:29 ago, cause: software
2025-04-24 16:19:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:24 [debug] Moves scheduled 50080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2608853251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max 3
2025-04-24 16:19:24 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20721, writes 0 timeouts 0
2025-04-24 16:19:24 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36066/37091
2025-04-24 16:19:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9287, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:24 [info] currentZPosition:0.147
2025-04-24 16:19:24 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:26 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:26 [debug] Diagnostics for board 50:
2025-04-24 16:19:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:31 ago, cause: software
2025-04-24 16:19:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:26 [debug] Moves scheduled 50086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 108, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2607546369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:19:26 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21922, writes 0 timeouts 0
2025-04-24 16:19:26 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35993/37138
2025-04-24 16:19:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:26 [info] currentZPosition:0.146
2025-04-24 16:19:27 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:27 [debug] Diagnostics for board 50:
2025-04-24 16:19:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:32 ago, cause: software
2025-04-24 16:19:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:27 [debug] Moves scheduled 50090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2606539089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:27 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16917, writes 0 timeouts 0
2025-04-24 16:19:27 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36113/37117
2025-04-24 16:19:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:27 [info] currentZPosition:0.147
2025-04-24 16:19:28 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:28 [debug] Diagnostics for board 50:
2025-04-24 16:19:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:33 ago, cause: software
2025-04-24 16:19:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:28 [debug] Moves scheduled 50094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2605483511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:19:28 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17702, writes 0 timeouts 0
2025-04-24 16:19:28 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 343, adv 36049/37167
2025-04-24 16:19:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9303, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:29 [info] currentZPosition:0.147
2025-04-24 16:19:30 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:30 [debug] Diagnostics for board 50:
2025-04-24 16:19:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:35 ago, cause: software
2025-04-24 16:19:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:30 [debug] Moves scheduled 50098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 111, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2604464818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:19:30 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17115, writes 0 timeouts 0
2025-04-24 16:19:30 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36049/37120
2025-04-24 16:19:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9274, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:30 [info] currentZPosition:0.147
2025-04-24 16:19:31 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:31 [debug] Diagnostics for board 50:
2025-04-24 16:19:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:36 ago, cause: software
2025-04-24 16:19:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:31 [debug] Moves scheduled 50102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 105, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2603404192 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:19:31 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17799, writes 0 timeouts 0
2025-04-24 16:19:31 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36012/37093
2025-04-24 16:19:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9272, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:31 [info] currentZPosition:0.147
2025-04-24 16:19:33 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:33 [debug] Diagnostics for board 50:
2025-04-24 16:19:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:21:38 ago, cause: software
2025-04-24 16:19:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:33 [debug] Moves scheduled 50106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 99, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2602362203 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:33 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17470, writes 0 timeouts 0
2025-04-24 16:19:33 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36084/37119
2025-04-24 16:19:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:33 [info] currentZPosition:0.146
2025-04-24 16:19:33 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:34 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:34 [debug] Diagnostics for board 50:
2025-04-24 16:19:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:21:39 ago, cause: software
2025-04-24 16:19:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:34 [debug] Moves scheduled 50112, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 85, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2601071708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:19:34 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21666, writes 0 timeouts 0
2025-04-24 16:19:34 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36062/37142
2025-04-24 16:19:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:34 [info] currentZPosition:0.146
2025-04-24 16:19:36 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:36 [debug] Diagnostics for board 50:
2025-04-24 16:19:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:41 ago, cause: software
2025-04-24 16:19:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:36 [debug] Moves scheduled 50116, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -2/-2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 2600052778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:19:36 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17086, writes 0 timeouts 0
2025-04-24 16:19:36 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36073/37140
2025-04-24 16:19:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:36 [info] currentZPosition:0.146
2025-04-24 16:19:37 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:37 [debug] Diagnostics for board 50:
2025-04-24 16:19:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:42 ago, cause: software
2025-04-24 16:19:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:37 [debug] Moves scheduled 50120, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2599015759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:19:37 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17407, writes 0 timeouts 0
2025-04-24 16:19:37 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36032/37122
2025-04-24 16:19:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:37 [info] currentZPosition:0.148
2025-04-24 16:19:38 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:38 [debug] Diagnostics for board 50:
2025-04-24 16:19:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:43 ago, cause: software
2025-04-24 16:19:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:38 [debug] Moves scheduled 50124, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2597984309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:38 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17306, writes 0 timeouts 0
2025-04-24 16:19:38 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36056/37123
2025-04-24 16:19:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9369, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:39 [info] currentZPosition:0.147
2025-04-24 16:19:40 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:40 [debug] Diagnostics for board 50:
2025-04-24 16:19:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:21:45 ago, cause: software
2025-04-24 16:19:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:40 [debug] Moves scheduled 50128, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2596935867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:40 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17588, writes 0 timeouts 0
2025-04-24 16:19:40 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36075/37157
2025-04-24 16:19:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9307, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:40 [info] currentZPosition:0.147
2025-04-24 16:19:41 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:41 [debug] Diagnostics for board 50:
2025-04-24 16:19:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:46 ago, cause: software
2025-04-24 16:19:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:41 [debug] Moves scheduled 50132, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 91, peak jitter 1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2595891904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:41 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17518, writes 0 timeouts 0
2025-04-24 16:19:41 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36063/37097
2025-04-24 16:19:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:41 [info] currentZPosition:0.146
2025-04-24 16:19:42 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:43 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:43 [debug] Diagnostics for board 50:
2025-04-24 16:19:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:48 ago, cause: software
2025-04-24 16:19:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:43 [debug] Moves scheduled 50138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 99, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2594634034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:19:43 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21108, writes 0 timeouts 0
2025-04-24 16:19:43 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36041/37139
2025-04-24 16:19:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:43 [info] currentZPosition:0.148
2025-04-24 16:19:43 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:45 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:45 [debug] Diagnostics for board 50:
2025-04-24 16:19:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:21:50 ago, cause: software
2025-04-24 16:19:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:45 [debug] Moves scheduled 50144, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2593367218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:45 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21254, writes 0 timeouts 0
2025-04-24 16:19:45 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36058/37127
2025-04-24 16:19:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:45 [info] currentZPosition:0.147
2025-04-24 16:19:45 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:46 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:46 [debug] Diagnostics for board 50:
2025-04-24 16:19:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:51 ago, cause: software
2025-04-24 16:19:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:46 [debug] Moves scheduled 50150, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2592076291 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:19:46 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21654, writes 0 timeouts 0
2025-04-24 16:19:46 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36030/37119
2025-04-24 16:19:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9347, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:46 [info] currentZPosition:0.147
2025-04-24 16:19:48 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:48 [debug] Diagnostics for board 50:
2025-04-24 16:19:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:53 ago, cause: software
2025-04-24 16:19:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:48 [debug] Moves scheduled 50154, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2591049043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:19:48 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17241, writes 0 timeouts 0
2025-04-24 16:19:48 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 433, adv 36015/37100
2025-04-24 16:19:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:48 [info] currentZPosition:0.147
2025-04-24 16:19:49 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:49 [debug] Diagnostics for board 50:
2025-04-24 16:19:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:54 ago, cause: software
2025-04-24 16:19:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:49 [debug] Moves scheduled 50158, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2590004147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:19:49 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17531, writes 0 timeouts 0
2025-04-24 16:19:49 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36018/37082
2025-04-24 16:19:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:49 [info] currentZPosition:0.148
2025-04-24 16:19:50 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:50 [debug] Diagnostics for board 50:
2025-04-24 16:19:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:55 ago, cause: software
2025-04-24 16:19:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:50 [debug] Moves scheduled 50162, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9036, max=15000
Sync err accum 74, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2588986931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:19:50 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17075, writes 0 timeouts 0
2025-04-24 16:19:50 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36111/37122
2025-04-24 16:19:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9276, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:51 [info] currentZPosition:0.148
2025-04-24 16:19:52 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:52 [debug] Diagnostics for board 50:
2025-04-24 16:19:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:57 ago, cause: software
2025-04-24 16:19:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:52 [debug] Moves scheduled 50166, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 60, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2587907169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:19:52 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18107, writes 0 timeouts 0
2025-04-24 16:19:52 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36041/37075
2025-04-24 16:19:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9398, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:52 [info] currentZPosition:0.147
2025-04-24 16:19:53 [debug] Stopped at height 0.147 mm
2025-04-24 16:19:53 [debug] Diagnostics for board 50:
2025-04-24 16:19:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:21:58 ago, cause: software
2025-04-24 16:19:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:53 [debug] Moves scheduled 50170, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9740, max=15000
Sync err accum 70, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2586892349 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:53 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17033, writes 0 timeouts 0
2025-04-24 16:19:53 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36104/37132
2025-04-24 16:19:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9372, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:53 [info] currentZPosition:0.147
2025-04-24 16:19:55 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:55 [debug] Diagnostics for board 50:
2025-04-24 16:19:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:00 ago, cause: software
2025-04-24 16:19:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:55 [debug] Moves scheduled 50174, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=8720, max=15000
Sync err accum 76, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2585809096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:19:55 [debug] Driver 0: pos -3576, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18178, writes 0 timeouts 0
2025-04-24 16:19:55 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36025/37142
2025-04-24 16:19:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:55 [info] currentZPosition:0.146
2025-04-24 16:19:55 [debug] Stopped at height 0.145 mm
2025-04-24 16:19:56 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:56 [debug] Diagnostics for board 50:
2025-04-24 16:19:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:01 ago, cause: software
2025-04-24 16:19:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:56 [debug] Moves scheduled 50180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2584583250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:56 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20583, writes 0 timeouts 0
2025-04-24 16:19:56 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36100/37107
2025-04-24 16:19:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:56 [info] currentZPosition:0.148
2025-04-24 16:19:57 [debug] Stopped at height 0.146 mm
2025-04-24 16:19:58 [debug] Stopped at height 0.148 mm
2025-04-24 16:19:58 [debug] Diagnostics for board 50:
2025-04-24 16:19:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:19:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:03 ago, cause: software
2025-04-24 16:19:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:19:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:19:58 [debug] Moves scheduled 50186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15306
Sync err accum 84, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2583290966 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:19:58 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21679, writes 0 timeouts 0
2025-04-24 16:19:58 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36004/37105
2025-04-24 16:19:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:19:58 [info] currentZPosition:0.148
2025-04-24 16:19:59 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:00 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:00 [debug] Diagnostics for board 50:
2025-04-24 16:20:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:05 ago, cause: software
2025-04-24 16:20:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:00 [debug] Moves scheduled 50192, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9036, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2582025900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:00 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21244, writes 0 timeouts 0
2025-04-24 16:20:00 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36150/37151
2025-04-24 16:20:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9372, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:00 [info] currentZPosition:0.147
2025-04-24 16:20:01 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:01 [debug] Diagnostics for board 50:
2025-04-24 16:20:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:22:06 ago, cause: software
2025-04-24 16:20:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:01 [debug] Moves scheduled 50196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 76, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2580946600 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:01 [debug] Driver 0: pos -3577, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18102, writes 0 timeouts 0
2025-04-24 16:20:01 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36028/37114
2025-04-24 16:20:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9417, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:01 [info] currentZPosition:0.146
2025-04-24 16:20:03 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:03 [debug] Diagnostics for board 50:
2025-04-24 16:20:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:22:07 ago, cause: software
2025-04-24 16:20:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:03 [debug] Moves scheduled 50200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9740, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2579941353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:20:03 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16835, writes 0 timeouts 0
2025-04-24 16:20:03 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36113/37123
2025-04-24 16:20:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9388, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:03 [info] currentZPosition:0.146
2025-04-24 16:20:04 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:04 [debug] Diagnostics for board 50:
2025-04-24 16:20:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:09 ago, cause: software
2025-04-24 16:20:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:04 [debug] Moves scheduled 50204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2578887138 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:20:04 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17722, writes 0 timeouts 0
2025-04-24 16:20:04 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36020/37158
2025-04-24 16:20:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9375, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:04 [info] currentZPosition:0.147
2025-04-24 16:20:05 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:05 [debug] Diagnostics for board 50:
2025-04-24 16:20:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:10 ago, cause: software
2025-04-24 16:20:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:05 [debug] Moves scheduled 50208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 81, peak jitter 2/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2577879201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:20:05 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16906, writes 0 timeouts 0
2025-04-24 16:20:05 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 347, adv 36100/37150
2025-04-24 16:20:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9346, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:05 [info] currentZPosition:0.147
2025-04-24 16:20:07 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:07 [debug] Diagnostics for board 50:
2025-04-24 16:20:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:12 ago, cause: software
2025-04-24 16:20:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:07 [debug] Moves scheduled 50212, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2576820556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:20:07 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17761, writes 0 timeouts 0
2025-04-24 16:20:07 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36002/37137
2025-04-24 16:20:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9381, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:07 [info] currentZPosition:0.147
2025-04-24 16:20:08 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:08 [debug] Diagnostics for board 50:
2025-04-24 16:20:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:22:13 ago, cause: software
2025-04-24 16:20:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:08 [debug] Moves scheduled 50216, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 98, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2575816293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:20:08 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16891, writes 0 timeouts 0
2025-04-24 16:20:08 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36044/37091
2025-04-24 16:20:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:08 [info] currentZPosition:0.148
2025-04-24 16:20:09 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:09 [debug] Diagnostics for board 50:
2025-04-24 16:20:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:22:14 ago, cause: software
2025-04-24 16:20:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:09 [debug] Moves scheduled 50220, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2574743385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:09 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17979, writes 0 timeouts 0
2025-04-24 16:20:09 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35992/37109
2025-04-24 16:20:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9366, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:10 [info] currentZPosition:0.147
2025-04-24 16:20:11 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:11 [debug] Diagnostics for board 50:
2025-04-24 16:20:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:16 ago, cause: software
2025-04-24 16:20:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:11 [debug] Moves scheduled 50224, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2573725781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:11 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17073, writes 0 timeouts 0
2025-04-24 16:20:11 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36073/37072
2025-04-24 16:20:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:11 [info] currentZPosition:0.147
2025-04-24 16:20:12 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:12 [debug] Diagnostics for board 50:
2025-04-24 16:20:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:17 ago, cause: software
2025-04-24 16:20:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:12 [debug] Moves scheduled 50228, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 104, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2572680081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:20:12 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17568, writes 0 timeouts 0
2025-04-24 16:20:12 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36040/37145
2025-04-24 16:20:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:12 [info] currentZPosition:0.148
2025-04-24 16:20:14 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:14 [debug] Diagnostics for board 50:
2025-04-24 16:20:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:14 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:19 ago, cause: software
2025-04-24 16:20:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:14 [debug] Moves scheduled 50232, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 98, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2571663518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:14 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17035, writes 0 timeouts 0
2025-04-24 16:20:14 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36099/37121
2025-04-24 16:20:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:14 [info] currentZPosition:0.148
2025-04-24 16:20:15 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:15 [debug] Diagnostics for board 50:
2025-04-24 16:20:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:20 ago, cause: software
2025-04-24 16:20:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:15 [debug] Moves scheduled 50236, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2570585169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:15 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18086, writes 0 timeouts 0
2025-04-24 16:20:15 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36032/37098
2025-04-24 16:20:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9411, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:15 [info] currentZPosition:0.147
2025-04-24 16:20:15 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:17 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:17 [debug] Diagnostics for board 50:
2025-04-24 16:20:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:22:22 ago, cause: software
2025-04-24 16:20:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:17 [debug] Moves scheduled 50242, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 79, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2569355155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:20:17 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20673, writes 0 timeouts 0
2025-04-24 16:20:17 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36131/37134
2025-04-24 16:20:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:17 [info] currentZPosition:0.148
2025-04-24 16:20:17 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:18 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:18 [debug] Diagnostics for board 50:
2025-04-24 16:20:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:23 ago, cause: software
2025-04-24 16:20:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:18 [debug] Moves scheduled 50248, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 61, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2568037983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:20:18 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22081, writes 0 timeouts 0
2025-04-24 16:20:18 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36053/37166
2025-04-24 16:20:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9418, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:19 [info] currentZPosition:0.147
2025-04-24 16:20:20 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:20 [debug] Diagnostics for board 50:
2025-04-24 16:20:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:25 ago, cause: software
2025-04-24 16:20:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:20 [debug] Moves scheduled 50252, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 68, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2567036106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:20:20 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16798, writes 0 timeouts 0
2025-04-24 16:20:20 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36310/37142
2025-04-24 16:20:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:20 [info] currentZPosition:0.148
2025-04-24 16:20:21 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:21 [debug] Diagnostics for board 50:
2025-04-24 16:20:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:26 ago, cause: software
2025-04-24 16:20:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:21 [debug] Moves scheduled 50256, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 80, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2565972905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:20:21 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17885, writes 0 timeouts 0
2025-04-24 16:20:21 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36072/37131
2025-04-24 16:20:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9317, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:21 [info] currentZPosition:0.148
2025-04-24 16:20:23 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:23 [debug] Diagnostics for board 50:
2025-04-24 16:20:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:27 ago, cause: software
2025-04-24 16:20:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:23 [debug] Moves scheduled 50260, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 88, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2564941473 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:20:23 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17279, writes 0 timeouts 0
2025-04-24 16:20:23 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36295/37168
2025-04-24 16:20:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:23 [info] currentZPosition:0.147
2025-04-24 16:20:24 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:24 [debug] Diagnostics for board 50:
2025-04-24 16:20:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:29 ago, cause: software
2025-04-24 16:20:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:24 [debug] Moves scheduled 50264, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 96, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2563890359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:20:24 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17636, writes 0 timeouts 0
2025-04-24 16:20:24 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36011/37099
2025-04-24 16:20:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:24 [info] currentZPosition:0.148
2025-04-24 16:20:25 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:25 [debug] Diagnostics for board 50:
2025-04-24 16:20:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:30 ago, cause: software
2025-04-24 16:20:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:25 [debug] Moves scheduled 50268, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 169, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15306
Sync err accum 100, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2562874188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:20:25 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17059, writes 0 timeouts 0
2025-04-24 16:20:25 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 403, adv 36303/37155
2025-04-24 16:20:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:25 [info] currentZPosition:0.148
2025-04-24 16:20:27 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:27 [debug] Diagnostics for board 50:
2025-04-24 16:20:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:32 ago, cause: software
2025-04-24 16:20:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:27 [debug] Moves scheduled 50272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2561788994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:20:27 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18199, writes 0 timeouts 0
2025-04-24 16:20:27 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36018/37097
2025-04-24 16:20:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 850
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9393, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4581, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:27 [info] currentZPosition:0.147
2025-04-24 16:20:27 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:28 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:28 [debug] Diagnostics for board 50:
2025-04-24 16:20:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:33 ago, cause: software
2025-04-24 16:20:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:28 [debug] Moves scheduled 50278, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 103, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2560550007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:20:28 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20789, writes 0 timeouts 0
2025-04-24 16:20:28 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36372/37122
2025-04-24 16:20:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9367, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:28 [info] currentZPosition:0.148
2025-04-24 16:20:30 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:30 [debug] Diagnostics for board 50:
2025-04-24 16:20:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:35 ago, cause: software
2025-04-24 16:20:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:30 [debug] Moves scheduled 50282, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 102, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2559505883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:20:30 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17545, writes 0 timeouts 0
2025-04-24 16:20:30 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36018/37114
2025-04-24 16:20:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:30 [info] currentZPosition:0.148
2025-04-24 16:20:31 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:31 [debug] Diagnostics for board 50:
2025-04-24 16:20:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:36 ago, cause: software
2025-04-24 16:20:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:31 [debug] Moves scheduled 50286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 95, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2558477095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:31 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17273, writes 0 timeouts 0
2025-04-24 16:20:31 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 337, adv 36370/37138
2025-04-24 16:20:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:31 [info] currentZPosition:0.148
2025-04-24 16:20:33 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:33 [debug] Diagnostics for board 50:
2025-04-24 16:20:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:38 ago, cause: software
2025-04-24 16:20:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:33 [debug] Moves scheduled 50290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 84, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2557402813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:20:33 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18008, writes 0 timeouts 0
2025-04-24 16:20:33 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36054/37119
2025-04-24 16:20:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9391, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:33 [info] currentZPosition:0.147
2025-04-24 16:20:34 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:34 [debug] Diagnostics for board 50:
2025-04-24 16:20:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:22:39 ago, cause: software
2025-04-24 16:20:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:34 [debug] Moves scheduled 50294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2556374344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:20:34 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17253, writes 0 timeouts 0
2025-04-24 16:20:34 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36321/37144
2025-04-24 16:20:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9413, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:34 [info] currentZPosition:0.147
2025-04-24 16:20:35 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:35 [debug] Diagnostics for board 50:
2025-04-24 16:20:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:35 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:22:40 ago, cause: software
2025-04-24 16:20:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:35 [debug] Moves scheduled 50298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2555338825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:20:35 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17378, writes 0 timeouts 0
2025-04-24 16:20:35 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36064/37125
2025-04-24 16:20:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:35 [info] currentZPosition:0.148
2025-04-24 16:20:37 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:37 [debug] Diagnostics for board 50:
2025-04-24 16:20:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:42 ago, cause: software
2025-04-24 16:20:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:37 [debug] Moves scheduled 50302, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2554315439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:20:37 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17174, writes 0 timeouts 0
2025-04-24 16:20:37 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 352, adv 36350/37128
2025-04-24 16:20:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9364, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:37 [info] currentZPosition:0.148
2025-04-24 16:20:38 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:38 [debug] Diagnostics for board 50:
2025-04-24 16:20:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:43 ago, cause: software
2025-04-24 16:20:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:38 [debug] Moves scheduled 50306, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2553261411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:20:38 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17689, writes 0 timeouts 0
2025-04-24 16:20:38 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36017/37123
2025-04-24 16:20:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:38 [info] currentZPosition:0.148
2025-04-24 16:20:39 [debug] Stopped at height 0.149 mm
2025-04-24 16:20:39 [debug] Diagnostics for board 50:
2025-04-24 16:20:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:44 ago, cause: software
2025-04-24 16:20:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:39 [debug] Moves scheduled 50310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2552249720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:20:39 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16991, writes 0 timeouts 0
2025-04-24 16:20:39 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 395, adv 36298/37116
2025-04-24 16:20:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9304, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:40 [info] currentZPosition:0.149
2025-04-24 16:20:41 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:41 [debug] Diagnostics for board 50:
2025-04-24 16:20:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:46 ago, cause: software
2025-04-24 16:20:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:41 [debug] Moves scheduled 50314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15306
Sync err accum 99, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2551169556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:20:41 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18124, writes 0 timeouts 0
2025-04-24 16:20:41 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36050/37072
2025-04-24 16:20:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9376, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:41 [info] currentZPosition:0.147
2025-04-24 16:20:41 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:43 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:43 [debug] Diagnostics for board 50:
2025-04-24 16:20:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:48 ago, cause: software
2025-04-24 16:20:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:43 [debug] Moves scheduled 50320, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2549914367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:20:43 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21058, writes 0 timeouts 0
2025-04-24 16:20:43 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36315/37141
2025-04-24 16:20:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:43 [info] currentZPosition:0.148
2025-04-24 16:20:44 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:44 [debug] Diagnostics for board 50:
2025-04-24 16:20:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:49 ago, cause: software
2025-04-24 16:20:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:44 [debug] Moves scheduled 50324, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2548852472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:20:44 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17818, writes 0 timeouts 0
2025-04-24 16:20:44 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36024/37134
2025-04-24 16:20:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:44 [info] currentZPosition:0.148
2025-04-24 16:20:45 [debug] Stopped at height 0.149 mm
2025-04-24 16:20:45 [debug] Diagnostics for board 50:
2025-04-24 16:20:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:22:50 ago, cause: software
2025-04-24 16:20:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:45 [debug] Moves scheduled 50328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 103, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2547851465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:20:45 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16816, writes 0 timeouts 0
2025-04-24 16:20:45 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36323/37144
2025-04-24 16:20:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:45 [info] currentZPosition:0.149
2025-04-24 16:20:46 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:46 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:47 [debug] Stopped at height 0.149 mm
2025-04-24 16:20:47 [debug] Diagnostics for board 50:
2025-04-24 16:20:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:52 ago, cause: software
2025-04-24 16:20:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:47 [debug] Moves scheduled 50336, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 96, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2546302912 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:47 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26007, writes 0 timeouts 0
2025-04-24 16:20:47 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36083/37145
2025-04-24 16:20:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:47 [info] currentZPosition:0.149
2025-04-24 16:20:48 [debug] Stopped at height 0.146 mm
2025-04-24 16:20:49 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:49 [debug] Diagnostics for board 50:
2025-04-24 16:20:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:54 ago, cause: software
2025-04-24 16:20:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:49 [debug] Moves scheduled 50342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9036, max=15000
Sync err accum 84, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2545029088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:20:49 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21358, writes 0 timeouts 0
2025-04-24 16:20:49 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36349/37158
2025-04-24 16:20:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:49 [info] currentZPosition:0.148
2025-04-24 16:20:51 [debug] Stopped at height 0.147 mm
2025-04-24 16:20:51 [debug] Diagnostics for board 50:
2025-04-24 16:20:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:55 ago, cause: software
2025-04-24 16:20:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:51 [debug] Moves scheduled 50346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 73, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2543967889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:51 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17812, writes 0 timeouts 0
2025-04-24 16:20:51 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36042/37102
2025-04-24 16:20:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:51 [info] currentZPosition:0.147
2025-04-24 16:20:52 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:52 [debug] Diagnostics for board 50:
2025-04-24 16:20:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:52 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:22:57 ago, cause: software
2025-04-24 16:20:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:52 [debug] Moves scheduled 50350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2542956377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:20:52 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16974, writes 0 timeouts 0
2025-04-24 16:20:52 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36352/37085
2025-04-24 16:20:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:52 [info] currentZPosition:0.148
2025-04-24 16:20:53 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:53 [debug] Diagnostics for board 50:
2025-04-24 16:20:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:22:58 ago, cause: software
2025-04-24 16:20:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:53 [debug] Moves scheduled 50354, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 71, peak jitter -1/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2541899925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:53 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17735, writes 0 timeouts 0
2025-04-24 16:20:53 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36031/37101
2025-04-24 16:20:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9372, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:53 [info] currentZPosition:0.148
2025-04-24 16:20:55 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:55 [debug] Diagnostics for board 50:
2025-04-24 16:20:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:00 ago, cause: software
2025-04-24 16:20:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:55 [debug] Moves scheduled 50358, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15000
Sync err accum 85, peak jitter 2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2540882370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:20:55 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17074, writes 0 timeouts 0
2025-04-24 16:20:55 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36340/37143
2025-04-24 16:20:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:55 [info] currentZPosition:0.148
2025-04-24 16:20:56 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:56 [debug] Diagnostics for board 50:
2025-04-24 16:20:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:01 ago, cause: software
2025-04-24 16:20:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:56 [debug] Moves scheduled 50362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 97, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2539813524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:20:56 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17946, writes 0 timeouts 0
2025-04-24 16:20:56 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36014/37118
2025-04-24 16:20:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9352, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:56 [info] currentZPosition:0.148
2025-04-24 16:20:57 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:57 [debug] Diagnostics for board 50:
2025-04-24 16:20:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:02 ago, cause: software
2025-04-24 16:20:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:57 [debug] Moves scheduled 50366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 104, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2538805502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:57 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16920, writes 0 timeouts 0
2025-04-24 16:20:57 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 36335/37170
2025-04-24 16:20:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:57 [info] currentZPosition:0.148
2025-04-24 16:20:59 [debug] Stopped at height 0.148 mm
2025-04-24 16:20:59 [debug] Diagnostics for board 50:
2025-04-24 16:20:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:20:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:04 ago, cause: software
2025-04-24 16:20:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:20:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:20:59 [debug] Moves scheduled 50370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 109, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2537738440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:20:59 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17897, writes 0 timeouts 0
2025-04-24 16:20:59 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36054/37104
2025-04-24 16:20:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:20:59 [info] currentZPosition:0.148
2025-04-24 16:21:00 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:00 [debug] Diagnostics for board 50:
2025-04-24 16:21:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:05 ago, cause: software
2025-04-24 16:21:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:00 [debug] Moves scheduled 50374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 109, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2536707877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:21:00 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17287, writes 0 timeouts 0
2025-04-24 16:21:00 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36352/37100
2025-04-24 16:21:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9349, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:00 [info] currentZPosition:0.148
2025-04-24 16:21:02 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:02 [debug] Diagnostics for board 50:
2025-04-24 16:21:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:07 ago, cause: software
2025-04-24 16:21:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:02 [debug] Moves scheduled 50378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 108, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2535666709 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:21:02 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17472, writes 0 timeouts 0
2025-04-24 16:21:02 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36023/37164
2025-04-24 16:21:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9380, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:02 [info] currentZPosition:0.148
2025-04-24 16:21:03 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:03 [debug] Diagnostics for board 50:
2025-04-24 16:21:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:23:08 ago, cause: software
2025-04-24 16:21:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:03 [debug] Moves scheduled 50382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 106, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2534649083 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:21:03 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17088, writes 0 timeouts 0
2025-04-24 16:21:03 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36342/37145
2025-04-24 16:21:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:03 [info] currentZPosition:0.149
2025-04-24 16:21:04 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:04 [debug] Diagnostics for board 50:
2025-04-24 16:21:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:09 ago, cause: software
2025-04-24 16:21:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:04 [debug] Moves scheduled 50386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 100, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2533578534 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:21:04 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17974, writes 0 timeouts 0
2025-04-24 16:21:04 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36040/37090
2025-04-24 16:21:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9351, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:04 [info] currentZPosition:0.148
2025-04-24 16:21:06 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:06 [debug] Diagnostics for board 50:
2025-04-24 16:21:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:11 ago, cause: software
2025-04-24 16:21:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:06 [debug] Moves scheduled 50390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 91, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2532573719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:21:06 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16870, writes 0 timeouts 0
2025-04-24 16:21:06 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36308/37120
2025-04-24 16:21:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9309, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:06 [info] currentZPosition:0.149
2025-04-24 16:21:07 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:07 [debug] Diagnostics for board 50:
2025-04-24 16:21:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:12 ago, cause: software
2025-04-24 16:21:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:07 [debug] Moves scheduled 50394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2531522185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:21:07 [debug] Driver 0: pos -3549, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17653, writes 0 timeouts 0
2025-04-24 16:21:07 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36027/37090
2025-04-24 16:21:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9266, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:07 [info] currentZPosition:0.149
2025-04-24 16:21:08 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:08 [debug] Diagnostics for board 50:
2025-04-24 16:21:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:13 ago, cause: software
2025-04-24 16:21:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:08 [debug] Moves scheduled 50398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2530491142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:21:08 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17303, writes 0 timeouts 0
2025-04-24 16:21:08 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36290/37149
2025-04-24 16:21:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:09 [info] currentZPosition:0.149
2025-04-24 16:21:10 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:10 [debug] Diagnostics for board 50:
2025-04-24 16:21:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:15 ago, cause: software
2025-04-24 16:21:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:10 [debug] Moves scheduled 50402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 68, peak jitter -2/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2529409028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:10 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18193, writes 0 timeouts 0
2025-04-24 16:21:10 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36019/37090
2025-04-24 16:21:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9394, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:10 [info] currentZPosition:0.147
2025-04-24 16:21:10 [debug] Stopped at height 0.146 mm
2025-04-24 16:21:12 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:12 [debug] Diagnostics for board 50:
2025-04-24 16:21:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:17 ago, cause: software
2025-04-24 16:21:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:12 [debug] Moves scheduled 50408, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 82, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2528158865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:21:12 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20947, writes 0 timeouts 0
2025-04-24 16:21:12 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36211/37158
2025-04-24 16:21:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9316, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:12 [info] currentZPosition:0.148
2025-04-24 16:21:12 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:13 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:13 [debug] Diagnostics for board 50:
2025-04-24 16:21:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:18 ago, cause: software
2025-04-24 16:21:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:13 [debug] Moves scheduled 50414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2526859032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 3
2025-04-24 16:21:13 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21804, writes 0 timeouts 0
2025-04-24 16:21:13 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36036/37104
2025-04-24 16:21:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9395, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:13 [info] currentZPosition:0.148
2025-04-24 16:21:15 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:15 [debug] Diagnostics for board 50:
2025-04-24 16:21:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:20 ago, cause: software
2025-04-24 16:21:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:15 [debug] Moves scheduled 50418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2525845925 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:21:15 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17022, writes 0 timeouts 0
2025-04-24 16:21:15 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36062/37082
2025-04-24 16:21:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9408, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:15 [info] currentZPosition:0.148
2025-04-24 16:21:16 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:16 [debug] Diagnostics for board 50:
2025-04-24 16:21:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:21 ago, cause: software
2025-04-24 16:21:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:16 [debug] Moves scheduled 50422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2524800185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:21:16 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17510, writes 0 timeouts 0
2025-04-24 16:21:16 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36038/37098
2025-04-24 16:21:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:16 [info] currentZPosition:0.149
2025-04-24 16:21:17 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:17 [debug] Diagnostics for board 50:
2025-04-24 16:21:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:22 ago, cause: software
2025-04-24 16:21:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:17 [debug] Moves scheduled 50426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 102, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2523743084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.1C, max
2025-04-24 16:21:17 [debug] Driver 0: pos -3576, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17758, writes 0 timeouts 0
2025-04-24 16:21:17 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36097/37121
2025-04-24 16:21:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 852
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9448, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:18 [info] currentZPosition:0.147
2025-04-24 16:21:18 [debug] Stopped at height 0.145 mm
2025-04-24 16:21:18 [debug] Stopped at height 0.146 mm
2025-04-24 16:21:19 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:19 [debug] Diagnostics for board 50:
2025-04-24 16:21:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:24 ago, cause: software
2025-04-24 16:21:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:19 [debug] Moves scheduled 50434, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 97, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2522241989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:21:19 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25213, writes 0 timeouts 0
2025-04-24 16:21:19 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36018/37162
2025-04-24 16:21:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:20 [info] currentZPosition:0.149
2025-04-24 16:21:20 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:21 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:21 [debug] Diagnostics for board 50:
2025-04-24 16:21:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:26 ago, cause: software
2025-04-24 16:21:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:21 [debug] Moves scheduled 50440, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 94, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2520945022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:21 [debug] Driver 0: pos -3575, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21737, writes 0 timeouts 0
2025-04-24 16:21:21 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36079/37145
2025-04-24 16:21:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9417, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:21 [info] currentZPosition:0.147
2025-04-24 16:21:23 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:23 [debug] Diagnostics for board 50:
2025-04-24 16:21:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:28 ago, cause: software
2025-04-24 16:21:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:23 [debug] Moves scheduled 50444, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2519908133 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:21:23 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17396, writes 0 timeouts 0
2025-04-24 16:21:23 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36031/37113
2025-04-24 16:21:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9389, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:23 [info] currentZPosition:0.148
2025-04-24 16:21:24 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:24 [debug] Diagnostics for board 50:
2025-04-24 16:21:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:29 ago, cause: software
2025-04-24 16:21:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:24 [debug] Moves scheduled 50448, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2518895644 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:21:24 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17014, writes 0 timeouts 0
2025-04-24 16:21:24 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36114/37099
2025-04-24 16:21:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:24 [info] currentZPosition:0.149
2025-04-24 16:21:25 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:25 [debug] Diagnostics for board 50:
2025-04-24 16:21:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:30 ago, cause: software
2025-04-24 16:21:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:25 [debug] Moves scheduled 50452, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2517836134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:21:25 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17770, writes 0 timeouts 0
2025-04-24 16:21:25 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36055/37145
2025-04-24 16:21:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9371, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:25 [info] currentZPosition:0.148
2025-04-24 16:21:27 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:27 [debug] Diagnostics for board 50:
2025-04-24 16:21:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:32 ago, cause: software
2025-04-24 16:21:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:27 [debug] Moves scheduled 50456, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2516802961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:21:27 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17331, writes 0 timeouts 0
2025-04-24 16:21:27 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36107/37126
2025-04-24 16:21:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9393, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:27 [info] currentZPosition:0.148
2025-04-24 16:21:28 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:28 [debug] Diagnostics for board 50:
2025-04-24 16:21:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:33 ago, cause: software
2025-04-24 16:21:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:28 [debug] Moves scheduled 50460, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2515764766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:21:28 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17450, writes 0 timeouts 0
2025-04-24 16:21:28 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36053/37097
2025-04-24 16:21:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9324, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:28 [info] currentZPosition:0.149
2025-04-24 16:21:29 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:30 [debug] Diagnostics for board 50:
2025-04-24 16:21:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:34 ago, cause: software
2025-04-24 16:21:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:30 [debug] Moves scheduled 50464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=61, frequency (Hz): min=9615, max=15000
Sync err accum 82, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2514723431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:21:30 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17459, writes 0 timeouts 0
2025-04-24 16:21:30 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36078/37168
2025-04-24 16:21:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9356, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:30 [info] currentZPosition:0.148
2025-04-24 16:21:31 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:31 [debug] Diagnostics for board 50:
2025-04-24 16:21:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:36 ago, cause: software
2025-04-24 16:21:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:31 [debug] Moves scheduled 50468, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 83, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2513683511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:21:31 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17463, writes 0 timeouts 0
2025-04-24 16:21:31 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36048/37087
2025-04-24 16:21:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:31 [info] currentZPosition:0.149
2025-04-24 16:21:31 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:33 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:33 [debug] Diagnostics for board 50:
2025-04-24 16:21:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:37 ago, cause: software
2025-04-24 16:21:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:33 [debug] Moves scheduled 50474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15000
Sync err accum 82, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2512421615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:33 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21179, writes 0 timeouts 0
2025-04-24 16:21:33 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36104/37118
2025-04-24 16:21:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9336, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:33 [info] currentZPosition:0.149
2025-04-24 16:21:33 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:34 [debug] Stopped at height 0.146 mm
2025-04-24 16:21:34 [debug] Diagnostics for board 50:
2025-04-24 16:21:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:23:39 ago, cause: software
2025-04-24 16:21:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:34 [debug] Moves scheduled 50480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2511087214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:21:34 [debug] Driver 0: pos -3582, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22377, writes 0 timeouts 0
2025-04-24 16:21:34 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35998/37139
2025-04-24 16:21:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9437, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 853
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:34 [info] currentZPosition:0.146
2025-04-24 16:21:36 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:36 [debug] Diagnostics for board 50:
2025-04-24 16:21:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:23:41 ago, cause: software
2025-04-24 16:21:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:36 [debug] Moves scheduled 50484, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 68, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2510111936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:21:36 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16392, writes 0 timeouts 0
2025-04-24 16:21:36 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36054/37126
2025-04-24 16:21:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9293, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:36 [info] currentZPosition:0.149
2025-04-24 16:21:36 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:37 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:37 [debug] Diagnostics for board 50:
2025-04-24 16:21:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:42 ago, cause: software
2025-04-24 16:21:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:37 [debug] Moves scheduled 50490, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2508795066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:37 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22086, writes 0 timeouts 0
2025-04-24 16:21:37 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36052/37171
2025-04-24 16:21:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9444, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:38 [info] currentZPosition:0.147
2025-04-24 16:21:38 [debug] Stopped at height 0.146 mm
2025-04-24 16:21:39 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:39 [debug] Diagnostics for board 50:
2025-04-24 16:21:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:44 ago, cause: software
2025-04-24 16:21:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:39 [debug] Moves scheduled 50496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2507543789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:21:39 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20985, writes 0 timeouts 0
2025-04-24 16:21:39 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36075/37116
2025-04-24 16:21:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9405, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:39 [info] currentZPosition:0.148
2025-04-24 16:21:40 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:40 [debug] Diagnostics for board 50:
2025-04-24 16:21:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:45 ago, cause: software
2025-04-24 16:21:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:40 [debug] Moves scheduled 50500, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 72, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2506507387 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:21:40 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17394, writes 0 timeouts 0
2025-04-24 16:21:40 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36001/37125
2025-04-24 16:21:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:41 [info] currentZPosition:0.149
2025-04-24 16:21:42 [debug] Stopped at height 0.150 mm
2025-04-24 16:21:42 [debug] Diagnostics for board 50:
2025-04-24 16:21:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:47 ago, cause: software
2025-04-24 16:21:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:42 [debug] Moves scheduled 50504, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 74, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2505502350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:21:42 [debug] Driver 0: pos -3548, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16880, writes 0 timeouts 0
2025-04-24 16:21:42 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36087/37121
2025-04-24 16:21:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9265, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:42 [info] currentZPosition:0.150
2025-04-24 16:21:43 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:43 [debug] Diagnostics for board 50:
2025-04-24 16:21:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:48 ago, cause: software
2025-04-24 16:21:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:43 [debug] Moves scheduled 50508, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9036, max=15000
Sync err accum 68, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2504408027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:43 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18367, writes 0 timeouts 0
2025-04-24 16:21:43 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 333, adv 36060/37138
2025-04-24 16:21:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9426, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:43 [info] currentZPosition:0.148
2025-04-24 16:21:44 [debug] Stopped at height 0.147 mm
2025-04-24 16:21:45 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:45 [debug] Diagnostics for board 50:
2025-04-24 16:21:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:23:50 ago, cause: software
2025-04-24 16:21:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:45 [debug] Moves scheduled 50514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 64, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2503166854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:21:45 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20827, writes 0 timeouts 0
2025-04-24 16:21:45 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36049/37128
2025-04-24 16:21:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:45 [info] currentZPosition:0.149
2025-04-24 16:21:45 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:47 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:47 [debug] Diagnostics for board 50:
2025-04-24 16:21:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:52 ago, cause: software
2025-04-24 16:21:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:47 [debug] Moves scheduled 50520, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15306
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2501854909 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:21:47 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 22011, writes 0 timeouts 0
2025-04-24 16:21:47 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36038/37124
2025-04-24 16:21:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9365, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:47 [info] currentZPosition:0.148
2025-04-24 16:21:48 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:48 [debug] Diagnostics for board 50:
2025-04-24 16:21:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:53 ago, cause: software
2025-04-24 16:21:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:48 [debug] Moves scheduled 50524, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 69, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2500820332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:21:48 [debug] Driver 0: pos -3574, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17355, writes 0 timeouts 0
2025-04-24 16:21:48 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36104/37125
2025-04-24 16:21:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9416, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 851
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:48 [info] currentZPosition:0.148
2025-04-24 16:21:49 [debug] Stopped at height 0.150 mm
2025-04-24 16:21:49 [debug] Diagnostics for board 50:
2025-04-24 16:21:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:54 ago, cause: software
2025-04-24 16:21:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:49 [debug] Moves scheduled 50528, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 67, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2499800570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:49 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17131, writes 0 timeouts 0
2025-04-24 16:21:49 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36025/37156
2025-04-24 16:21:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:50 [info] currentZPosition:0.150
2025-04-24 16:21:50 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:51 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:51 [debug] Diagnostics for board 50:
2025-04-24 16:21:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 06:23:56 ago, cause: software
2025-04-24 16:21:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:51 [debug] Moves scheduled 50534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 65, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2498523755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:21:51 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21420, writes 0 timeouts 0
2025-04-24 16:21:51 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36052/37108
2025-04-24 16:21:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:51 [info] currentZPosition:0.149
2025-04-24 16:21:53 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:53 [debug] Diagnostics for board 50:
2025-04-24 16:21:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:23:57 ago, cause: software
2025-04-24 16:21:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:53 [debug] Moves scheduled 50538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 2/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2497449837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:21:53 [debug] Driver 0: pos -3574, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18034, writes 0 timeouts 0
2025-04-24 16:21:53 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36021/37103
2025-04-24 16:21:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9403, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:53 [info] currentZPosition:0.148
2025-04-24 16:21:54 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:54 [debug] Diagnostics for board 50:
2025-04-24 16:21:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:23:59 ago, cause: software
2025-04-24 16:21:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:54 [debug] Moves scheduled 50542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2496450518 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:21:54 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16762, writes 0 timeouts 0
2025-04-24 16:21:54 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36046/37076
2025-04-24 16:21:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9376, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4568, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:54 [info] currentZPosition:0.149
2025-04-24 16:21:55 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:55 [debug] Diagnostics for board 50:
2025-04-24 16:21:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:55 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:00 ago, cause: software
2025-04-24 16:21:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:55 [debug] Moves scheduled 50546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 92, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2495381172 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:21:55 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17949, writes 0 timeouts 0
2025-04-24 16:21:55 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36001/37092
2025-04-24 16:21:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:55 [info] currentZPosition:0.148
2025-04-24 16:21:57 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:57 [debug] Diagnostics for board 50:
2025-04-24 16:21:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:02 ago, cause: software
2025-04-24 16:21:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:57 [debug] Moves scheduled 50550, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9259, max=15306
Sync err accum 96, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2494376494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:21:57 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16861, writes 0 timeouts 0
2025-04-24 16:21:57 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36086/37079
2025-04-24 16:21:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9350, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:57 [info] currentZPosition:0.149
2025-04-24 16:21:58 [debug] Stopped at height 0.149 mm
2025-04-24 16:21:58 [debug] Diagnostics for board 50:
2025-04-24 16:21:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:03 ago, cause: software
2025-04-24 16:21:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:58 [debug] Moves scheduled 50554, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9375, max=15000
Sync err accum 95, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2493327821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:58 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17626, writes 0 timeouts 0
2025-04-24 16:21:58 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36014/37095
2025-04-24 16:21:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:21:58 [info] currentZPosition:0.149
2025-04-24 16:21:59 [debug] Stopped at height 0.148 mm
2025-04-24 16:21:59 [debug] Diagnostics for board 50:
2025-04-24 16:21:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:21:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:04 ago, cause: software
2025-04-24 16:21:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:21:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:21:59 [debug] Moves scheduled 50558, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2492281338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:21:59 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17544, writes 0 timeouts 0
2025-04-24 16:21:59 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36088/37164
2025-04-24 16:21:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9361, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:00 [info] currentZPosition:0.148
2025-04-24 16:22:00 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:01 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:01 [debug] Diagnostics for board 50:
2025-04-24 16:22:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:06 ago, cause: software
2025-04-24 16:22:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:01 [debug] Moves scheduled 50564, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2490989531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:01 [debug] Driver 0: pos -3571, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21682, writes 0 timeouts 0
2025-04-24 16:22:01 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36005/37122
2025-04-24 16:22:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4567, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:01 [info] currentZPosition:0.148
2025-04-24 16:22:02 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:02 [debug] Diagnostics for board 50:
2025-04-24 16:22:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:07 ago, cause: software
2025-04-24 16:22:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:02 [debug] Moves scheduled 50568, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 77, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2489990251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:02 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16779, writes 0 timeouts 0
2025-04-24 16:22:02 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36111/37089
2025-04-24 16:22:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:03 [info] currentZPosition:0.149
2025-04-24 16:22:04 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:04 [debug] Diagnostics for board 50:
2025-04-24 16:22:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:09 ago, cause: software
2025-04-24 16:22:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:04 [debug] Moves scheduled 50572, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9493, max=15306
Sync err accum 65, peak jitter -2/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2488919946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:22:04 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17964, writes 0 timeouts 0
2025-04-24 16:22:04 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36015/37125
2025-04-24 16:22:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9352, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:04 [info] currentZPosition:0.148
2025-04-24 16:22:05 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:05 [debug] Diagnostics for board 50:
2025-04-24 16:22:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:10 ago, cause: software
2025-04-24 16:22:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:05 [debug] Moves scheduled 50576, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 68, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2487925914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:22:05 [debug] Driver 0: pos -3550, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16678, writes 0 timeouts 0
2025-04-24 16:22:05 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36081/37125
2025-04-24 16:22:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9306, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:05 [info] currentZPosition:0.150
2025-04-24 16:22:06 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:07 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:07 [debug] Diagnostics for board 50:
2025-04-24 16:22:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:07 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:12 ago, cause: software
2025-04-24 16:22:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:07 [debug] Moves scheduled 50582, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 85, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2486632377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:22:07 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21718, writes 0 timeouts 0
2025-04-24 16:22:07 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36022/37110
2025-04-24 16:22:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9289, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:07 [info] currentZPosition:0.150
2025-04-24 16:22:07 [debug] Stopped at height 0.147 mm
2025-04-24 16:22:08 [debug] Stopped at height 0.146 mm
2025-04-24 16:22:09 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:09 [debug] Diagnostics for board 50:
2025-04-24 16:22:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:14 ago, cause: software
2025-04-24 16:22:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:09 [debug] Moves scheduled 50590, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9146, max=15306
Sync err accum 103, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2485093876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:22:09 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 25807, writes 0 timeouts 0
2025-04-24 16:22:09 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 406, adv 36222/37116
2025-04-24 16:22:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9379, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:09 [info] currentZPosition:0.149
2025-04-24 16:22:09 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:11 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:11 [debug] Diagnostics for board 50:
2025-04-24 16:22:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:11 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:16 ago, cause: software
2025-04-24 16:22:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:11 [debug] Moves scheduled 50596, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 113, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2483829586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:11 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21245, writes 0 timeouts 0
2025-04-24 16:22:11 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36013/37115
2025-04-24 16:22:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:11 [info] currentZPosition:0.150
2025-04-24 16:22:12 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:12 [debug] Diagnostics for board 50:
2025-04-24 16:22:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:17 ago, cause: software
2025-04-24 16:22:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:12 [debug] Moves scheduled 50600, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 117, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2482808108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:12 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17122, writes 0 timeouts 0
2025-04-24 16:22:12 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36313/37131
2025-04-24 16:22:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:12 [info] currentZPosition:0.150
2025-04-24 16:22:13 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:13 [debug] Diagnostics for board 50:
2025-04-24 16:22:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:18 ago, cause: software
2025-04-24 16:22:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:13 [debug] Moves scheduled 50604, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 120, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2481728634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:22:13 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18097, writes 0 timeouts 0
2025-04-24 16:22:13 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36009/37091
2025-04-24 16:22:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9350, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:14 [info] currentZPosition:0.149
2025-04-24 16:22:15 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:15 [debug] Diagnostics for board 50:
2025-04-24 16:22:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 06:24:20 ago, cause: software
2025-04-24 16:22:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:15 [debug] Moves scheduled 50608, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 117, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2480720254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:22:15 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16951, writes 0 timeouts 0
2025-04-24 16:22:15 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36333/37108
2025-04-24 16:22:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9345, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:15 [info] currentZPosition:0.150
2025-04-24 16:22:16 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:16 [debug] Diagnostics for board 50:
2025-04-24 16:22:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:24:21 ago, cause: software
2025-04-24 16:22:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:16 [debug] Moves scheduled 50612, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=45, frequency (Hz): min=9493, max=15000
Sync err accum 114, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2479642610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:22:16 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18072, writes 0 timeouts 0
2025-04-24 16:22:16 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36062/37120
2025-04-24 16:22:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9412, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:16 [info] currentZPosition:0.148
2025-04-24 16:22:18 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:18 [debug] Diagnostics for board 50:
2025-04-24 16:22:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:18 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:23 ago, cause: software
2025-04-24 16:22:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:18 [debug] Moves scheduled 50616, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9493, max=15000
Sync err accum 108, peak jitter -1/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2478645578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:22:18 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16725, writes 0 timeouts 0
2025-04-24 16:22:18 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36305/37119
2025-04-24 16:22:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9310, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:18 [info] currentZPosition:0.150
2025-04-24 16:22:18 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:19 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:19 [debug] Diagnostics for board 50:
2025-04-24 16:22:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:24 ago, cause: software
2025-04-24 16:22:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:19 [debug] Moves scheduled 50622, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9036, max=15000
Sync err accum 94, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2477354331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:22:19 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21687, writes 0 timeouts 0
2025-04-24 16:22:19 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36040/37129
2025-04-24 16:22:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9329, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:19 [info] currentZPosition:0.150
2025-04-24 16:22:21 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:21 [debug] Diagnostics for board 50:
2025-04-24 16:22:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:26 ago, cause: software
2025-04-24 16:22:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:21 [debug] Moves scheduled 50626, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8928, max=15306
Sync err accum 80, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2476322237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:22:21 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17294, writes 0 timeouts 0
2025-04-24 16:22:21 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36312/37144
2025-04-24 16:22:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9383, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:21 [info] currentZPosition:0.149
2025-04-24 16:22:22 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:22 [debug] Diagnostics for board 50:
2025-04-24 16:22:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:22 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:27 ago, cause: software
2025-04-24 16:22:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:22 [debug] Moves scheduled 50630, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 65, peak jitter -3/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2475254622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:22:22 [debug] Driver 0: pos -3570, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17913, writes 0 timeouts 0
2025-04-24 16:22:22 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36038/37103
2025-04-24 16:22:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9411, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:22 [info] currentZPosition:0.148
2025-04-24 16:22:23 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:23 [debug] Diagnostics for board 50:
2025-04-24 16:22:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:24:28 ago, cause: software
2025-04-24 16:22:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:23 [debug] Moves scheduled 50634, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2474244297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:22:23 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16965, writes 0 timeouts 0
2025-04-24 16:22:23 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36330/37122
2025-04-24 16:22:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9374, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:24 [info] currentZPosition:0.149
2025-04-24 16:22:25 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:25 [debug] Diagnostics for board 50:
2025-04-24 16:22:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:25 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:30 ago, cause: software
2025-04-24 16:22:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:25 [debug] Moves scheduled 50638, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 79, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2473202522 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:22:25 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17472, writes 0 timeouts 0
2025-04-24 16:22:25 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36001/37123
2025-04-24 16:22:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:25 [info] currentZPosition:0.150
2025-04-24 16:22:26 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:26 [debug] Diagnostics for board 50:
2025-04-24 16:22:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:31 ago, cause: software
2025-04-24 16:22:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:26 [debug] Moves scheduled 50642, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2472146504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:22:26 [debug] Driver 0: pos -3575, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17706, writes 0 timeouts 0
2025-04-24 16:22:26 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36345/37108
2025-04-24 16:22:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9401, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:26 [info] currentZPosition:0.148
2025-04-24 16:22:27 [debug] Stopped at height 0.146 mm
2025-04-24 16:22:28 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:28 [debug] Diagnostics for board 50:
2025-04-24 16:22:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:33 ago, cause: software
2025-04-24 16:22:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:28 [debug] Moves scheduled 50648, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15306
Sync err accum 93, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2470873068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:22:28 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21376, writes 0 timeouts 0
2025-04-24 16:22:28 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36016/37149
2025-04-24 16:22:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9344, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:28 [info] currentZPosition:0.150
2025-04-24 16:22:28 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:30 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:30 [debug] Diagnostics for board 50:
2025-04-24 16:22:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 06:24:35 ago, cause: software
2025-04-24 16:22:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:30 [debug] Moves scheduled 50654, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 95, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2469621240 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:30 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21020, writes 0 timeouts 0
2025-04-24 16:22:30 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36297/37121
2025-04-24 16:22:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9358, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:30 [info] currentZPosition:0.150
2025-04-24 16:22:30 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:31 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:31 [debug] Diagnostics for board 50:
2025-04-24 16:22:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:36 ago, cause: software
2025-04-24 16:22:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:31 [debug] Moves scheduled 50660, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9146, max=15000
Sync err accum 94, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2468323686 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:22:31 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21775, writes 0 timeouts 0
2025-04-24 16:22:31 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36060/37119
2025-04-24 16:22:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:31 [info] currentZPosition:0.149
2025-04-24 16:22:33 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:33 [debug] Diagnostics for board 50:
2025-04-24 16:22:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:38 ago, cause: software
2025-04-24 16:22:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:33 [debug] Moves scheduled 50664, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 90, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2467320502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:33 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16839, writes 0 timeouts 0
2025-04-24 16:22:33 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36335/37087
2025-04-24 16:22:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9301, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:33 [info] currentZPosition:0.150
2025-04-24 16:22:34 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:34 [debug] Diagnostics for board 50:
2025-04-24 16:22:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:39 ago, cause: software
2025-04-24 16:22:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:34 [debug] Moves scheduled 50668, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9146, max=15000
Sync err accum 82, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2466217932 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, c
2025-04-24 16:22:34 [debug] Driver 0: pos -3578, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18497, writes 0 timeouts 0
2025-04-24 16:22:34 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36084/37088
2025-04-24 16:22:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9410, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:34 [info] currentZPosition:0.148
2025-04-24 16:22:35 [debug] Stopped at height 0.147 mm
2025-04-24 16:22:36 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:36 [debug] Diagnostics for board 50:
2025-04-24 16:22:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:41 ago, cause: software
2025-04-24 16:22:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:36 [debug] Moves scheduled 50674, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9259, max=15000
Sync err accum 72, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2464984091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:22:36 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20717, writes 0 timeouts 0
2025-04-24 16:22:36 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36301/37111
2025-04-24 16:22:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9396, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:36 [info] currentZPosition:0.149
2025-04-24 16:22:36 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:38 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:38 [debug] Diagnostics for board 50:
2025-04-24 16:22:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:42 ago, cause: software
2025-04-24 16:22:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:38 [debug] Moves scheduled 50680, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 65, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2463704425 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:38 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21479, writes 0 timeouts 0
2025-04-24 16:22:38 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36023/37170
2025-04-24 16:22:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9331, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:38 [info] currentZPosition:0.150
2025-04-24 16:22:39 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:39 [debug] Diagnostics for board 50:
2025-04-24 16:22:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:39 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:24:44 ago, cause: software
2025-04-24 16:22:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:39 [debug] Moves scheduled 50684, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9615, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2462676392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:39 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17255, writes 0 timeouts 0
2025-04-24 16:22:39 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36351/37091
2025-04-24 16:22:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:39 [info] currentZPosition:0.150
2025-04-24 16:22:40 [debug] Stopped at height 0.151 mm
2025-04-24 16:22:40 [debug] Diagnostics for board 50:
2025-04-24 16:22:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:24:45 ago, cause: software
2025-04-24 16:22:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:40 [debug] Moves scheduled 50688, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 70, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2461631374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:22:40 [debug] Driver 0: pos -3547, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17535, writes 0 timeouts 0
2025-04-24 16:22:40 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36003/37101
2025-04-24 16:22:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9263, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:40 [info] currentZPosition:0.151
2025-04-24 16:22:42 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:42 [debug] Diagnostics for board 50:
2025-04-24 16:22:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:42 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:47 ago, cause: software
2025-04-24 16:22:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:42 [debug] Moves scheduled 50692, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 66, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2460586613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:22:42 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17534, writes 0 timeouts 0
2025-04-24 16:22:42 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 404, adv 36293/37089
2025-04-24 16:22:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9363, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:42 [info] currentZPosition:0.150
2025-04-24 16:22:43 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:43 [debug] Diagnostics for board 50:
2025-04-24 16:22:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:48 ago, cause: software
2025-04-24 16:22:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:43 [debug] Moves scheduled 50696, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9375, max=15000
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2459536703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:22:43 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17619, writes 0 timeouts 0
2025-04-24 16:22:43 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36038/37117
2025-04-24 16:22:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9334, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:43 [info] currentZPosition:0.150
2025-04-24 16:22:44 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:44 [debug] Diagnostics for board 50:
2025-04-24 16:22:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:49 ago, cause: software
2025-04-24 16:22:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:44 [debug] Moves scheduled 50700, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 74, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2458497178 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:22:44 [debug] Driver 0: pos -3566, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17439, writes 0 timeouts 0
2025-04-24 16:22:44 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36317/37141
2025-04-24 16:22:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9395, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:45 [info] currentZPosition:0.149
2025-04-24 16:22:46 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:46 [debug] Diagnostics for board 50:
2025-04-24 16:22:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:46 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:51 ago, cause: software
2025-04-24 16:22:46 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:46 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:46 [debug] Moves scheduled 50704, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15000
Sync err accum 81, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2457440377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:22:46 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17748, writes 0 timeouts 0
2025-04-24 16:22:46 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 328, adv 36061/37147
2025-04-24 16:22:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 849
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9394, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:46 [info] currentZPosition:0.149
2025-04-24 16:22:47 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:47 [debug] Diagnostics for board 50:
2025-04-24 16:22:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:52 ago, cause: software
2025-04-24 16:22:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:47 [debug] Moves scheduled 50708, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9493, max=15000
Sync err accum 87, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2456436233 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:22:47 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16829, writes 0 timeouts 0
2025-04-24 16:22:47 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36343/37169
2025-04-24 16:22:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9330, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 837
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:47 [info] currentZPosition:0.150
2025-04-24 16:22:49 [debug] Stopped at height 0.151 mm
2025-04-24 16:22:49 [debug] Diagnostics for board 50:
2025-04-24 16:22:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:49 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:54 ago, cause: software
2025-04-24 16:22:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:49 [debug] Moves scheduled 50712, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 90, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2455389462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:22:49 [debug] Driver 0: pos -3552, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17588, writes 0 timeouts 0
2025-04-24 16:22:49 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36057/37136
2025-04-24 16:22:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 835
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9286, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:49 [info] currentZPosition:0.151
2025-04-24 16:22:50 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:50 [debug] Diagnostics for board 50:
2025-04-24 16:22:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:50 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:55 ago, cause: software
2025-04-24 16:22:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:50 [debug] Moves scheduled 50716, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=69, frequency (Hz): min=9375, max=15000
Sync err accum 93, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2454364432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:22:50 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17206, writes 0 timeouts 0
2025-04-24 16:22:50 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36389/37111
2025-04-24 16:22:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:50 [info] currentZPosition:0.150
2025-04-24 16:22:51 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:51 [debug] Diagnostics for board 50:
2025-04-24 16:22:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:51 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:56 ago, cause: software
2025-04-24 16:22:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:51 [debug] Moves scheduled 50720, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=64, frequency (Hz): min=9259, max=15000
Sync err accum 91, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2453297693 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:51 [debug] Driver 0: pos -3559, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17905, writes 0 timeouts 0
2025-04-24 16:22:51 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 357, adv 36036/37114
2025-04-24 16:22:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9339, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:52 [info] currentZPosition:0.150
2025-04-24 16:22:53 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:53 [debug] Diagnostics for board 50:
2025-04-24 16:22:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:53 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:24:58 ago, cause: software
2025-04-24 16:22:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:53 [debug] Moves scheduled 50724, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15306
Sync err accum 87, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2452277610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:53 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17119, writes 0 timeouts 0
2025-04-24 16:22:53 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36313/37124
2025-04-24 16:22:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9335, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:53 [info] currentZPosition:0.150
2025-04-24 16:22:54 [debug] Stopped at height 0.149 mm
2025-04-24 16:22:54 [debug] Diagnostics for board 50:
2025-04-24 16:22:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:24:59 ago, cause: software
2025-04-24 16:22:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:54 [debug] Moves scheduled 50728, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 80, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2451188654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:22:54 [debug] Driver 0: pos -3573, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18271, writes 0 timeouts 0
2025-04-24 16:22:54 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36057/37153
2025-04-24 16:22:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9433, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:54 [info] currentZPosition:0.149
2025-04-24 16:22:55 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:56 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:56 [debug] Diagnostics for board 50:
2025-04-24 16:22:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:25:01 ago, cause: software
2025-04-24 16:22:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:56 [debug] Moves scheduled 50734, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2449959461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:22:56 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 20618, writes 0 timeouts 0
2025-04-24 16:22:56 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36357/37132
2025-04-24 16:22:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4569, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:56 [info] currentZPosition:0.150
2025-04-24 16:22:56 [debug] Stopped at height 0.148 mm
2025-04-24 16:22:58 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:58 [debug] Diagnostics for board 50:
2025-04-24 16:22:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:58 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:02 ago, cause: software
2025-04-24 16:22:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:58 [debug] Moves scheduled 50740, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 67, peak jitter -3/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2448672633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:22:58 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21603, writes 0 timeouts 0
2025-04-24 16:22:58 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35997/37122
2025-04-24 16:22:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9290, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:58 [info] currentZPosition:0.150
2025-04-24 16:22:58 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:59 [debug] Stopped at height 0.150 mm
2025-04-24 16:22:59 [debug] Diagnostics for board 50:
2025-04-24 16:22:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:22:59 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:04 ago, cause: software
2025-04-24 16:22:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:22:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:22:59 [debug] Moves scheduled 50746, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2447414086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:22:59 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21125, writes 0 timeouts 0
2025-04-24 16:22:59 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36396/37125
2025-04-24 16:22:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9319, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:22:59 [info] currentZPosition:0.150
2025-04-24 16:23:01 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:01 [debug] Diagnostics for board 50:
2025-04-24 16:23:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:25:06 ago, cause: software
2025-04-24 16:23:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:01 [debug] Moves scheduled 50750, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 82, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2446361471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:23:01 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17666, writes 0 timeouts 0
2025-04-24 16:23:01 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36035/37152
2025-04-24 16:23:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:01 [info] currentZPosition:0.150
2025-04-24 16:23:02 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:02 [debug] Diagnostics for board 50:
2025-04-24 16:23:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:07 ago, cause: software
2025-04-24 16:23:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:02 [debug] Moves scheduled 50754, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 86, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2445325857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:23:02 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17380, writes 0 timeouts 0
2025-04-24 16:23:02 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36323/37112
2025-04-24 16:23:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9333, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:02 [info] currentZPosition:0.150
2025-04-24 16:23:03 [debug] Stopped at height 0.149 mm
2025-04-24 16:23:03 [debug] Diagnostics for board 50:
2025-04-24 16:23:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:08 ago, cause: software
2025-04-24 16:23:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:03 [debug] Moves scheduled 50758, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9868, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2444256904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:23:03 [debug] Driver 0: pos -3568, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17933, writes 0 timeouts 0
2025-04-24 16:23:03 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36033/37129
2025-04-24 16:23:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9407, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:04 [info] currentZPosition:0.149
2025-04-24 16:23:05 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:05 [debug] Diagnostics for board 50:
2025-04-24 16:23:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:05 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:10 ago, cause: software
2025-04-24 16:23:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:05 [debug] Moves scheduled 50762, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 84, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2443252520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:23:05 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16859, writes 0 timeouts 0
2025-04-24 16:23:05 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36224/37162
2025-04-24 16:23:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:05 [info] currentZPosition:0.150
2025-04-24 16:23:06 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:06 [debug] Diagnostics for board 50:
2025-04-24 16:23:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:06 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:11 ago, cause: software
2025-04-24 16:23:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:06 [debug] Moves scheduled 50766, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2442186849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:23:06 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17882, writes 0 timeouts 0
2025-04-24 16:23:06 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36015/37120
2025-04-24 16:23:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9385, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:06 [info] currentZPosition:0.150
2025-04-24 16:23:08 [debug] Stopped at height 0.149 mm
2025-04-24 16:23:08 [debug] Diagnostics for board 50:
2025-04-24 16:23:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:08 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:25:13 ago, cause: software
2025-04-24 16:23:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:08 [debug] Moves scheduled 50770, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9375, max=15000
Sync err accum 69, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4294967119 ticks, disabled, next step interrupt due in 2441148901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-24 16:23:08 [debug] Driver 0: pos -3575, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17402, writes 0 timeouts 0
2025-04-24 16:23:08 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36066/37163
2025-04-24 16:23:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9410, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:08 [info] currentZPosition:0.149
2025-04-24 16:23:09 [debug] Stopped at height 0.149 mm
2025-04-24 16:23:09 [debug] Diagnostics for board 50:
2025-04-24 16:23:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:09 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:14 ago, cause: software
2025-04-24 16:23:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:09 [debug] Moves scheduled 50774, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 63, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2440103628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:23:09 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17565, writes 0 timeouts 0
2025-04-24 16:23:09 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36010/37154
2025-04-24 16:23:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9388, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:09 [info] currentZPosition:0.149
2025-04-24 16:23:10 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:10 [debug] Diagnostics for board 50:
2025-04-24 16:23:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:10 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:15 ago, cause: software
2025-04-24 16:23:10 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:10 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:10 [debug] Moves scheduled 50778, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10135, max=15000
Sync err accum 77, peak jitter 2/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2439096340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:23:10 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16881, writes 0 timeouts 0
2025-04-24 16:23:10 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36086/37164
2025-04-24 16:23:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9377, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:10 [info] currentZPosition:0.150
2025-04-24 16:23:12 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:12 [debug] Diagnostics for board 50:
2025-04-24 16:23:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:12 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:17 ago, cause: software
2025-04-24 16:23:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:12 [debug] Moves scheduled 50782, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 90, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2438038144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:23:12 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17761, writes 0 timeouts 0
2025-04-24 16:23:12 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36026/37122
2025-04-24 16:23:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 845
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9326, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:12 [info] currentZPosition:0.150
2025-04-24 16:23:13 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:13 [debug] Diagnostics for board 50:
2025-04-24 16:23:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:13 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:18 ago, cause: software
2025-04-24 16:23:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:13 [debug] Moves scheduled 50786, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 169, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15306
Sync err accum 95, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2437006985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:23:13 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17339, writes 0 timeouts 0
2025-04-24 16:23:13 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36077/37163
2025-04-24 16:23:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9364, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:13 [info] currentZPosition:0.150
2025-04-24 16:23:15 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:15 [debug] Diagnostics for board 50:
2025-04-24 16:23:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:15 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:19 ago, cause: software
2025-04-24 16:23:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:15 [debug] Moves scheduled 50790, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 97, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2435964536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:23:15 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17466, writes 0 timeouts 0
2025-04-24 16:23:15 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36029/37132
2025-04-24 16:23:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9332, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 836
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:15 [info] currentZPosition:0.150
2025-04-24 16:23:16 [debug] Stopped at height 0.151 mm
2025-04-24 16:23:16 [debug] Diagnostics for board 50:
2025-04-24 16:23:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:16 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:21 ago, cause: software
2025-04-24 16:23:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:16 [debug] Moves scheduled 50794, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 100, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2434947382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:23:16 [debug] Driver 0: pos -3554, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17078, writes 0 timeouts 0
2025-04-24 16:23:16 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36062/37084
2025-04-24 16:23:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 836
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9296, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:16 [info] currentZPosition:0.151
2025-04-24 16:23:17 [debug] Stopped at height 0.151 mm
2025-04-24 16:23:17 [debug] Diagnostics for board 50:
2025-04-24 16:23:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:17 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:22 ago, cause: software
2025-04-24 16:23:17 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:17 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:17 [debug] Moves scheduled 50798, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 99, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2433890350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:23:17 [debug] Driver 0: pos -3553, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17765, writes 0 timeouts 0
2025-04-24 16:23:17 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36075/37107
2025-04-24 16:23:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9322, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:17 [info] currentZPosition:0.151
2025-04-24 16:23:19 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:19 [debug] Diagnostics for board 50:
2025-04-24 16:23:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:19 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:24 ago, cause: software
2025-04-24 16:23:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:19 [debug] Moves scheduled 50802, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 95, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2432852045 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:23:19 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17399, writes 0 timeouts 0
2025-04-24 16:23:19 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 436, adv 36080/37078
2025-04-24 16:23:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 837
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9361, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 848
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:19 [info] currentZPosition:0.150
2025-04-24 16:23:20 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:20 [debug] Diagnostics for board 50:
2025-04-24 16:23:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:20 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:25 ago, cause: software
2025-04-24 16:23:20 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:20 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:20 [debug] Moves scheduled 50806, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 87, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2431797726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:23:20 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17699, writes 0 timeouts 0
2025-04-24 16:23:20 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 408, adv 35874/37113
2025-04-24 16:23:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9364, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:20 [info] currentZPosition:0.150
2025-04-24 16:23:21 [debug] Stopped at height 0.149 mm
2025-04-24 16:23:21 [debug] Diagnostics for board 50:
2025-04-24 16:23:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:21 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:26 ago, cause: software
2025-04-24 16:23:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:21 [debug] Moves scheduled 50810, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9493, max=15000
Sync err accum 78, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2430756498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:23:21 [debug] Driver 0: pos -3573, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17493, writes 0 timeouts 0
2025-04-24 16:23:21 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36096/37161
2025-04-24 16:23:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 849
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:22 [info] currentZPosition:0.149
2025-04-24 16:23:23 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:23 [debug] Diagnostics for board 50:
2025-04-24 16:23:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:23 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:28 ago, cause: software
2025-04-24 16:23:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:23 [debug] Moves scheduled 50814, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 66, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2429711771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:23:23 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17491, writes 0 timeouts 0
2025-04-24 16:23:23 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36023/37160
2025-04-24 16:23:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9398, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:23 [info] currentZPosition:0.150
2025-04-24 16:23:24 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:24 [debug] Diagnostics for board 50:
2025-04-24 16:23:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:24 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:29 ago, cause: software
2025-04-24 16:23:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:24 [debug] Moves scheduled 50818, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 66, peak jitter -3/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2428699104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:23:24 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17000, writes 0 timeouts 0
2025-04-24 16:23:24 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36117/37100
2025-04-24 16:23:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9361, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:24 [info] currentZPosition:0.150
2025-04-24 16:23:26 [debug] Stopped at height 0.151 mm
2025-04-24 16:23:26 [debug] Diagnostics for board 50:
2025-04-24 16:23:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:26 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:31 ago, cause: software
2025-04-24 16:23:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:26 [debug] Moves scheduled 50822, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 83, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2427655420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:23:26 [debug] Driver 0: pos -3555, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17546, writes 0 timeouts 0
2025-04-24 16:23:26 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36088/37124
2025-04-24 16:23:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 840
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9328, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:26 [info] currentZPosition:0.151
2025-04-24 16:23:27 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:27 [debug] Diagnostics for board 50:
2025-04-24 16:23:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:27 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:32 ago, cause: software
2025-04-24 16:23:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:27 [debug] Moves scheduled 50826, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 94, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2426630303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:23:27 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17182, writes 0 timeouts 0
2025-04-24 16:23:27 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36061/37143
2025-04-24 16:23:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9302, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:27 [info] currentZPosition:0.150
2025-04-24 16:23:28 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:28 [debug] Diagnostics for board 50:
2025-04-24 16:23:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:28 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:33 ago, cause: software
2025-04-24 16:23:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:28 [debug] Moves scheduled 50830, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=10869, max=15000
Sync err accum 102, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2425557279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:23:28 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 18000, writes 0 timeouts 0
2025-04-24 16:23:28 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36079/37079
2025-04-24 16:23:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9346, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:28 [info] currentZPosition:0.150
2025-04-24 16:23:30 [debug] Stopped at height 0.149 mm
2025-04-24 16:23:30 [debug] Diagnostics for board 50:
2025-04-24 16:23:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:30 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:35 ago, cause: software
2025-04-24 16:23:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:30 [debug] Moves scheduled 50834, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 107, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2424527299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:23:30 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17304, writes 0 timeouts 0
2025-04-24 16:23:30 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 400, adv 36118/37106
2025-04-24 16:23:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9409, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4577, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:30 [info] currentZPosition:0.149
2025-04-24 16:23:31 [debug] Stopped at height 0.151 mm
2025-04-24 16:23:31 [debug] Diagnostics for board 50:
2025-04-24 16:23:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:31 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:36 ago, cause: software
2025-04-24 16:23:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:31 [debug] Moves scheduled 50838, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 112, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2423504960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:23:31 [debug] Driver 0: pos -3551, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17157, writes 0 timeouts 0
2025-04-24 16:23:31 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36009/37111
2025-04-24 16:23:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 841
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9269, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:31 [info] currentZPosition:0.151
2025-04-24 16:23:32 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:33 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:33 [debug] Diagnostics for board 50:
2025-04-24 16:23:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:33 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:38 ago, cause: software
2025-04-24 16:23:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:33 [debug] Moves scheduled 50844, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 114, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2422229995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:23:33 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21394, writes 0 timeouts 0
2025-04-24 16:23:33 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 57, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36104/37116
2025-04-24 16:23:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9372, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:33 [info] currentZPosition:0.150
2025-04-24 16:23:34 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:34 [debug] Diagnostics for board 50:
2025-04-24 16:23:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:34 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:39 ago, cause: software
2025-04-24 16:23:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:34 [debug] Moves scheduled 50848, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=9615, max=15000
Sync err accum 113, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2421177264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:23:34 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17694, writes 0 timeouts 0
2025-04-24 16:23:34 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36048/37133
2025-04-24 16:23:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9318, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4579, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:34 [info] currentZPosition:0.150
2025-04-24 16:23:36 [debug] Stopped at height 0.151 mm
2025-04-24 16:23:36 [debug] Diagnostics for board 50:
2025-04-24 16:23:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:36 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:41 ago, cause: software
2025-04-24 16:23:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:36 [debug] Moves scheduled 50852, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 154, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 110, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, next step interrupt due in 2420160037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-24 16:23:36 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17053, writes 0 timeouts 0
2025-04-24 16:23:36 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36071/37124
2025-04-24 16:23:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4571, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:36 [info] currentZPosition:0.151
2025-04-24 16:23:37 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:37 [debug] Diagnostics for board 50:
2025-04-24 16:23:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:37 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:42 ago, cause: software
2025-04-24 16:23:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:37 [debug] Moves scheduled 50856, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 102, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2419091852 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, ma
2025-04-24 16:23:37 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17920, writes 0 timeouts 0
2025-04-24 16:23:37 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36014/37172
2025-04-24 16:23:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9367, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4572, no error
Lin: Encoder reverse polarity: no, raw count 838
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:37 [info] currentZPosition:0.150
2025-04-24 16:23:38 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:38 [debug] Diagnostics for board 50:
2025-04-24 16:23:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:38 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:43 ago, cause: software
2025-04-24 16:23:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:38 [debug] Moves scheduled 50860, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 96, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2418077895 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:23:38 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17054, writes 0 timeouts 0
2025-04-24 16:23:38 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36064/37145
2025-04-24 16:23:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9323, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:38 [info] currentZPosition:0.150
2025-04-24 16:23:40 [debug] Stopped at height 0.151 mm
2025-04-24 16:23:40 [debug] Diagnostics for board 50:
2025-04-24 16:23:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:40 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:45 ago, cause: software
2025-04-24 16:23:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:40 [debug] Moves scheduled 50864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15306
Sync err accum 83, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2417025728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:23:40 [debug] Driver 0: pos -3557, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17626, writes 0 timeouts 0
2025-04-24 16:23:40 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36005/37117
2025-04-24 16:23:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9340, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:40 [info] currentZPosition:0.151
2025-04-24 16:23:41 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:41 [debug] Diagnostics for board 50:
2025-04-24 16:23:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:41 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:46 ago, cause: software
2025-04-24 16:23:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:41 [debug] Moves scheduled 50868, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=62, frequency (Hz): min=9615, max=15000
Sync err accum 69, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2415997235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cu
2025-04-24 16:23:41 [debug] Driver 0: pos -3562, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17251, writes 0 timeouts 0
2025-04-24 16:23:41 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36062/37111
2025-04-24 16:23:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9355, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4570, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:41 [info] currentZPosition:0.150
2025-04-24 16:23:43 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:43 [debug] Diagnostics for board 50:
2025-04-24 16:23:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:43 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:47 ago, cause: software
2025-04-24 16:23:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:43 [debug] Moves scheduled 50872, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 60, peak jitter -3/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2414947198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:23:43 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17658, writes 0 timeouts 0
2025-04-24 16:23:43 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36049/37087
2025-04-24 16:23:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 844
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9341, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 843
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:43 [info] currentZPosition:0.150
2025-04-24 16:23:44 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:44 [debug] Diagnostics for board 50:
2025-04-24 16:23:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:44 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:49 ago, cause: software
2025-04-24 16:23:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:44 [debug] Moves scheduled 50876, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 75, peak jitter 2/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2413914935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:23:44 [debug] Driver 0: pos -3565, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17315, writes 0 timeouts 0
2025-04-24 16:23:44 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36110/37094
2025-04-24 16:23:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9360, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4573, no error
Lin: Encoder reverse polarity: no, raw count 842
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:44 [info] currentZPosition:0.150
2025-04-24 16:23:45 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:45 [debug] Diagnostics for board 50:
2025-04-24 16:23:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:45 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:25:50 ago, cause: software
2025-04-24 16:23:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:45 [debug] Moves scheduled 50880, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=64, frequency (Hz): min=9615, max=15000
Sync err accum 93, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2412859565 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-24 16:23:45 [debug] Driver 0: pos -3564, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17690, writes 0 timeouts 0
2025-04-24 16:23:45 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36021/37160
2025-04-24 16:23:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 843
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9343, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 845
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:45 [info] currentZPosition:0.150
2025-04-24 16:23:47 [debug] Stopped at height 0.150 mm
2025-04-24 16:23:47 [debug] Diagnostics for board 50:
2025-04-24 16:23:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:47 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:25:52 ago, cause: software
2025-04-24 16:23:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:47 [debug] Moves scheduled 50884, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9615, max=15000
Sync err accum 106, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2411836868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatur
2025-04-24 16:23:47 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 17166, writes 0 timeouts 0
2025-04-24 16:23:47 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 55, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36077/37117
2025-04-24 16:23:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9400, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 839
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:47 [info] currentZPosition:0.150
2025-04-24 16:23:48 [debug] Stopped at height 0.151 mm
2025-04-24 16:23:48 [debug] Diagnostics for board 50:
2025-04-24 16:23:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:23:48 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:25:53 ago, cause: software
2025-04-24 16:23:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:23:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:23:48 [debug] Moves scheduled 50888, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 119, peak jitter 0/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2410329608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:23:48 [debug] Driver 0: pos -3556, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 26756, writes 0 timeouts 0
2025-04-24 16:23:48 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 59, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36047/37089
2025-04-24 16:23:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 838
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9305, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:23:49 [info] currentZPosition:0.151
2025-04-24 16:24:54 [debug] Stopped at height 0.150 mm
2025-04-24 16:24:54 [debug] Diagnostics for board 50:
2025-04-24 16:24:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:24:54 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:26:59 ago, cause: software
2025-04-24 16:24:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:24:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:24:54 [debug] Moves scheduled 51180, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=66, frequency (Hz): min=8928, max=15306
Sync err accum 63, peak jitter -4/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2361399836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:24:54 [debug] Driver 0: pos -3569, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 33707, writes 0 timeouts 0
2025-04-24 16:24:54 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 565, send timeouts 0, received 609, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 428, adv 35530/37173
2025-04-24 16:24:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 842
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9420, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:24:54 [info] currentZPosition:0.150
2025-04-24 16:24:54 [debug] Stopped at height 0.149 mm
2025-04-24 16:24:56 [debug] Stopped at height 0.149 mm
2025-04-24 16:24:56 [debug] Diagnostics for board 50:
2025-04-24 16:24:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:24:56 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 06:27:01 ago, cause: software
2025-04-24 16:24:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:24:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:24:56 [debug] Moves scheduled 51186, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15000
Sync err accum 75, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2360107825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, curr
2025-04-24 16:24:56 [debug] Driver 0: pos -3576, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 21681, writes 0 timeouts 0
2025-04-24 16:24:56 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 57, send timeouts 0, received 25, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35668/37140
2025-04-24 16:24:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 848
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9415, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 847
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:24:56 [info] currentZPosition:0.149
2025-04-24 16:24:57 [debug] Stopped at height 0.150 mm
2025-04-24 16:24:57 [debug] Diagnostics for board 50:
2025-04-24 16:24:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:24:57 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:27:02 ago, cause: software
2025-04-24 16:24:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:24:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:24:57 [debug] Moves scheduled 51190, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=8823, max=15000
Sync err accum 83, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2359100681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 3
2025-04-24 16:24:57 [debug] Driver 0: pos -3560, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 16900, writes 0 timeouts 0
2025-04-24 16:24:57 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35653/37098
2025-04-24 16:24:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 839
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9320, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 846
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:24:57 [info] currentZPosition:0.150
2025-04-24 16:24:57 [debug] Stopped at height 0.148 mm
2025-04-24 16:24:58 [debug] Done printing file
2025-04-24 16:24:58 [debug] Done printing file
2025-04-24 16:24:58 [warn] Finished printing file 0:/gcodes/NV00044073A.g, print time was 2h 18m
2025-04-24 16:25:00 [debug] Stopped at height 0.150 mm
2025-04-24 16:25:00 [debug] Diagnostics for board 50:
2025-04-24 16:25:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:25:00 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 06:27:04 ago, cause: software
2025-04-24 16:25:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:25:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:25:00 [debug] Moves scheduled 51196, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=68, frequency (Hz): min=9146, max=15000
Sync err accum 88, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2357214351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-24 16:25:00 [debug] Driver 0: pos -3561, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 31673, writes 0 timeouts 0
2025-04-24 16:25:00 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 63, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36131/37126
2025-04-24 16:25:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 847
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9325, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:25:00 [info] currentZPosition:0.150
2025-04-24 16:25:00 [debug] Stopped at height 0.148 mm
2025-04-24 16:25:01 [debug] Stopped at height 0.150 mm
2025-04-24 16:25:01 [debug] Diagnostics for board 50:
2025-04-24 16:25:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:25:01 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:27:06 ago, cause: software
2025-04-24 16:25:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:25:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:25:01 [debug] Moves scheduled 51200, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9740, max=15000
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2356347126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:25:01 [debug] Driver 0: pos -3567, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 14568, writes 0 timeouts 0
2025-04-24 16:25:01 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 37058/37115
2025-04-24 16:25:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9361, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4574, no error
Lin: Encoder reverse polarity: no, raw count 844
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:25:01 [info] currentZPosition:0.150
2025-04-24 16:25:01 [debug] Stopped at height 0.148 mm
2025-04-24 16:25:02 [debug] Stopped at height 0.150 mm
2025-04-24 16:25:02 [debug] Diagnostics for board 50:
2025-04-24 16:25:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:25:02 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:27:07 ago, cause: software
2025-04-24 16:25:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:25:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:25:02 [debug] Moves scheduled 51204, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9259, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2355491438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, cur
2025-04-24 16:25:02 [debug] Driver 0: pos -3563, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 14358, writes 0 timeouts 0
2025-04-24 16:25:02 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 51, send timeouts 0, received 20, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 37086/37123
2025-04-24 16:25:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9368, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4575, no error
Lin: Encoder reverse polarity: no, raw count 840
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:25:02 [info] currentZPosition:0.150
2025-04-24 16:25:02 [debug] Stopped at height 0.149 mm
2025-04-24 16:25:03 [debug] Stopped at height 0.151 mm
2025-04-24 16:25:03 [debug] Diagnostics for board 50:
2025-04-24 16:25:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:25:03 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 06:27:08 ago, cause: software
2025-04-24 16:25:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:25:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:25:03 [debug] Moves scheduled 51208, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9493, max=15000
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2354642564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max 
2025-04-24 16:25:03 [debug] Driver 0: pos -3558, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 14262, writes 0 timeouts 0
2025-04-24 16:25:03 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 19, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 37076/37126
2025-04-24 16:25:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 846
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9291, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4576, no error
Lin: Encoder reverse polarity: no, raw count 841
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-24 16:25:03 [info] currentZPosition:0.151
2025-04-24 16:25:03 [debug] Stopped at height 0.150 mm
2025-04-24 16:25:04 [debug] Diagnostics for board 50:
2025-04-24 16:25:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+4 (2025-04-17 08:37:57)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-24 16:25:04 [debug] Never used RAM 51356, free system stack 156 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,74.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 06:27:09 ago, cause: software
2025-04-24 16:25:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-24 16:25:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-24 16:25:04 [debug] Moves scheduled 51211, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=65, frequency (Hz): min=9375, max=15000
Sync err accum 77, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2353962401 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 31.0C, current 35.3C, max
2025-04-24 16:25:04 [debug] Driver 0: pos -3489, 10060.2 steps/mm, ok, SG min n/a, mspos 216, reads 11434, writes 0 timeouts 0
2025-04-24 16:25:04 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 49, send timeouts 0, received 16, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 37063/37109
2025-04-24 16:25:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 829
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 8931, minCorrection=-15.4, maxCorrection=10.9, agc 14, mag 4578, no error
Lin: Encoder reverse polarity: no, raw count 823
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-25 06:00:16 [warn] Ethernet running, IP address = 192.168.1.14
2025-04-25 06:00:21 [warn] HTTP client 192.168.1.2 login succeeded (session key 1598465113)